open-planning/roboplan

Modern robot motion planning library based on Pinocchio.

What it solves

RoboPlan is a modern robot motion planning library designed to help developers calculate how a robot arm should move from one point to another while avoiding obstacles and respecting physical constraints.

How it works

Built on top of the Pinocchio library, RoboPlan provides a set of C++ and Python tools for different stages of motion planning. It includes solvers for inverse kinematics (IK) to determine joint angles for a specific end-effector position, a task-based Optimal Inverse Kinematics (OInK) solver, and a Rapidly-exploring Random Tree (RRT) planner for navigating complex environments. It also features a Cartesian planner for following paths in task-space and a TOPP-RA wrapper for trajectory timing.

Who it’s for

Robotics engineers and researchers who need a modular motion planning stack for robot arms.

Highlights

  • Multiple Solver Options: Includes both simple and optimal inverse kinematics solvers.
  • Path Planning: Implements RRT for obstacle avoidance and Cartesian planning for precise path following.
  • Trajectory Timing: Integrates TOPP-RA for efficient trajectory timing.
  • Broad Model Support: Includes example models and a superbuild system for streamlined installation across different environments.

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