This is a motion planner for robotic arms written entirely in Python. It only depends on Numpy and Pytest!
I have implemented a lot of fundamental robotics and planning algorithms.
- Triangle-Triangle Collision Checking
- Mesh-Mesh Collision Checking
- Robot Self Collision Checking
- Forward Kinematics via Screw Theory
- Inverse Kinematics via the Newton Raphson Method
- RRT
- RRT Connect
- A*
- Probabilistic Roadmap
- More to Come!
export PYTHONPATH="${PYTHONPATH}:<path to repo>/nano_motion_planner/src"
pytest ./tests
- Create a C-Module to do triangle-triangle collision detection. This would greatly reduce the time spent doing collision detection.