Metadata-Version: 2.1
Name: roboplan
Version: 0.0.100
Summary: Modern robot motion planning library based on Pinocchio.
Author-Email: Sebastian Castro <sebas.a.castro@gmail.com>, Erik Holum <eholum@gmail.com>, Sebastian Jahr <sebastian.jahr@tuta.io>
Classifier: License :: OSI Approved :: MIT License
Project-URL: Homepage, https://github.com/sea-bass/roboplan
Requires-Python: <3.15,>=3.10
Requires-Dist: matplotlib
Requires-Dist: numpy
Requires-Dist: pin
Description-Content-Type: text/markdown

# RoboPlan

Modern robot motion planning library based on [Pinocchio](https://github.com/stack-of-tasks/pinocchio).

Refer to the [full documentation](https://roboplan.readthedocs.io) for more information.

> [!WARNING]
> This is an experimental repository!
> Until version 1.0 is released, expect some breaking changes.

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## Packages list

The main folders found in this repo are as follows.

- `docs` : The documentation source.
- `roboplan` : The core C++ library.
- `roboplan_simple_ik` : A simple inverse kinematics (IK) solver.
- `roboplan_oink` : A task-based Optimal Inverse Kinematics (OInK) solver.
- `roboplan_rrt` : A Rapidly-exploring Random Tree (RRT) based motion planner.
- `roboplan_toppra` : A wrapper around the TOPP-RA algorithm for trajectory timing.
- `roboplan_cartesian_planning` : A Cartesian planner for following task-space paths.
- `roboplan_example_models` : Contains robot models used for testing and examples.
- `roboplan_examples` : Basic examples with real robot models.
- `packaging` : Files to help package wheels for release on PyPi.

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<img src="docs/source/media/kinova_ik.gif" alt="Interactive inverse kinematics (IK) with Kinova Gen3 arm." width="600">

<img src="docs/source/media/dual_franka_rrt.gif" alt="Rapidly-exploring random tree (RRT) with dual Franka FR3 arms." width="600">

<img src="docs/source/media/cartesian_planning_ur5.gif" alt="Cartesian path planning with a UR5 arm." width="600">
