sea-bass/pyroboplan

Educational Python library for manipulator motion planning

What it solves

PyRoboPlan is an educational library designed to help users learn and implement manipulator motion planning, allowing robots to move from a start position to a goal position while avoiding obstacles.

How it works

The library leverages the Pinocchio Python bindings to handle the complex mathematics of robot kinematics and dynamics, providing tools to calculate how a robot arm should move in space.

Who it’s for

It is specifically designed for students and learners who want to understand the fundamentals of motion planning for robotic manipulators.

Highlights

  • Uses Pinocchio for robot kinematics and dynamics modeling.
  • Supports RRT-based (Rapidly-exploring Random Tree) motion planning.
  • Supports Cartesian motion planning.
  • Integrated trajectory execution capabilities.

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