Motion Planning Pkg

Trying to implement motion planning algorithms like RRT (and its variants) for robotic arms.

Installation:

1. Git clone repo:

git clone https://github.com/logeshg2/motion_planning_pkg.git

2. Install dependencies:

pip3 install -r requirements.txt

3. Install mpkg:

pip3 install -e .

Example Usage:

1. Differential Inverse Kinematics:

python3 examples/diff_ik_eg.py

2. RRT Star Planner (with and without collision objects):

# without collision objects
python3 examples/rrt_star_planner_eg.py

# with collision objects
python3 examples/rrt_star_planner_collision_eg.py

More Examples can be found here: More Examples