Planning

Sdf-swept-sphere-based collision checker

skrobot.planner.SweptSphereSdfCollisionChecker

Collision checker between swept spheres and sdf

SQP-based trajectory planner

skrobot.planner.sqp_plan_trajectory

Gradient based trajectory optimization using scipy's SLSQP.

Swept sphere generater

skrobot.planner.swept_sphere.compute_swept_sphere

Compute swept spheres approximating a mesh

Planner utils

skrobot.planner.utils.scipinize	Scipinize a function returning both f and jac
skrobot.planner.utils.set_robot_config	A utility function for setting robot state
skrobot.planner.utils.get_robot_config	A utility function for getting robot state
skrobot.planner.utils.forward_kinematics_multi	Compute fk for multiple feature points