open-planning/roboplan

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. It provides a set of tools for solving inverse kinematics (IK) and generating smooth, executable trajectories.

How it works

Built on top of the Pinocchio library, RoboPlan organizes its functionality into several specialized packages:

• Inverse Kinematics (IK): It offers a simple IK solver and a task-based Optimal Inverse Kinematics (OInK) solver to determine the joint positions required to reach a target pose.
• Motion Planning: It uses Rapidly-exploring Random Trees (RRT) to find collision-free paths in the robot's configuration space.
• Trajectory Generation: It includes a Cartesian planner for following task-space paths and a wrapper for the TOPP-RA algorithm to handle trajectory timing and velocity limits.

Who it’s for

Robotics engineers and researchers who need a C++ library for motion planning, inverse kinematics, and trajectory timing for robot arms.

Highlights

• Pinocchio-based: Leverages the same core kinematics and dynamics engine used in widely adopted robotics software.
• Diverse Solver Options: Includes both simple and optimal (OInK) inverse kinematics solvers.

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• Integrated Planning: Combines RRT-based pathfinding with Cartesian planning and trajectory timing (TOPP-RA).
• Example Models: Provides built-in robot models for testing and examples.