Features¶

  • Uses OMPL suite of planners (geometric and control based)
  • Uses PQP collision detection library
  • Uses Coin3D for visualization
  • Uses ODE physics engine
  • Robot models are defined using urdf or DH parameters coded in an XML file
  • Describes robots as kinematic trees with a mobile base (SE3xRn configuration space)
  • Geometry is described in VRML files
  • Allows multi-robot systems
  • Allows the coupling of degrees of freedom
  • Can be encapsuled as a ROS node