RoboPlan
========

Welcome to the RoboPlan documentation!

RoboPlan is a robot motion planning library based on `Pinocchio <https://github.com/stack-of-tasks/pinocchio>`_.


Quick Links:
------------

- :doc:`getting_started/installation`
- `GitHub Repository <https://github.com/open-planning/roboplan>`_
- `Discord Server <https://discord.gg/VjbdJnbk9n>`_


.. figure:: media/kinova_ik.gif
   :width: 400px

   Interactive inverse kinematics (IK) with Kinova Gen3 arm.

.. figure:: media/dual_franka_rrt.gif
   :width: 400px

   Rapidly-exploring random tree (RRT) with dual Franka FR3 arms.


.. toctree::
   :hidden:
   :maxdepth: 2
   :caption: Contents:

   design
   getting_started/index
   concepts/index
   api_cpp