open-planning/roboplan

How open-planning/roboplan works

RoboPlan is a Pinocchio-based robot motion-planning library with C++ implementations and Python bindings. A user supplies a robot scene and planning request; the available capabilities include inverse kinematics, RRT motion planning, Cartesian path planning, and TOPP-RA trajectory timing, with visualization helpers for inspection. The bimanual example imports several of these packages and illustrates a multi-stage application. Edges are limited to relationships shown by excerpts, indexed references, or the README; unsampled implementation details are not inferred.

Main entry points: example_bimanual_pick_and_place.py Bimanual Example · cartesian_path_planner.cpp Cartesian Planner · python Other Examples · rrt.cpp RRT Planner

Components 18

Scene Foundation

Robot Scene roboplan_core/src/core/scene.cpp
Scene Context roboplan_core/src/core/scene_context.cpp
Core Bindings roboplan_core/bindings/src/core.cpp

Planning Solvers

Simple IK roboplan_simple_ik/src/simple_ik.cpp
Optimal IK roboplan_oink/src/optimal_ik.cpp
IK Constraints roboplan_oink/src/constraints/position_limit.cpp
IK Barriers roboplan_oink/src/barriers/self_collision_barrier.cpp
RRT Planner roboplan_rrt/src/rrt.cpp
RRT Search Tree roboplan_rrt/src/kd_tree.cpp

Path And Timing

Cartesian Planner roboplan_cartesian_planning/src/cartesian_path_planner.cpp
TOPP-RA Timing roboplan_toppra/src/toppra.cpp
Blended Paths roboplan_toppra/src/linear_blend_path.cpp

Python Use

Visualization roboplan_core/bindings/python/roboplan/visualization.py
Example Models roboplan_example_models/src/resources.cpp
Example Support roboplan_examples/python/common.py
Bimanual Example roboplan_examples/python/example_bimanual_pick_and_place.py
Other Examples roboplan_examples/python

Other components

Robot Planner

Connections 19

Scene Context → Robot Scene: queries roboplan_core/src/core/scene_context.cpp
RRT Planner → Scene Context: creates roboplan_rrt/src/rrt.cpp
RRT Planner → RRT Search Tree: uses search
Cartesian Planner → Optimal IK: builds solver roboplan_cartesian_planning/src/cartesian_path_planner.cpp
Cartesian Planner → TOPP-RA Timing: uses timing roboplan_cartesian_planning/src/cartesian_path_planner.cpp
Cartesian Planner → IK Constraints: uses limits roboplan_cartesian_planning/src/cartesian_path_planner.cpp
Bimanual Example → Example Support: imports helpers roboplan_examples/python/example_bimanual_pick_and_place.py
Bimanual Example → Cartesian Planner: imports planner roboplan_examples/python/example_bimanual_pick_and_place.py
Bimanual Example → Optimal IK: imports solver roboplan_examples/python/example_bimanual_pick_and_place.py
Bimanual Example → RRT Planner: imports planner roboplan_examples/python/example_bimanual_pick_and_place.py
Bimanual Example → TOPP-RA Timing: imports timing roboplan_examples/python/example_bimanual_pick_and_place.py
Bimanual Example → Visualization: imports tools roboplan_examples/python/example_bimanual_pick_and_place.py
Bimanual Example → Example Models: loads models
Example Support → Core Bindings: imports core roboplan_examples/python/common.py
Other Examples → Simple IK: demonstrates IK README.md
Other Examples → Optimal IK: demonstrates OInK README.md
Other Examples → RRT Planner: demonstrates RRT README.md
Other Examples → Cartesian Planner: demonstrates paths README.md
Robot Planner → Bimanual Example: runs example

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