Sampling Based Planners
C++ sampling-based motion planners for a high-DOF planar robot arm, comparing RRT, RRT-Connect, RRT*, and PRM on collision-free joint-space planning tasks.
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C++ sampling-based motion planners for a high-DOF planar robot arm, comparing RRT, RRT-Connect, RRT*, and PRM on collision-free joint-space planning tasks.
Python manipulation coursework in MEngines covering rigid-body transforms, forward kinematics, screw coordinates, contact mechanics, RRT-Connect planning, antipodal grasp search, …