Conventional RRT path planner optimized to function in URe10 configuration space

1. python 3
2. numpy
3. matplotlib
4. tqdm

Run RRT.py

Change following call parameters (optional)

rrt = RRT(q_start, q_goal, max_iter=1000, step_size=0.2)

Package contains following scripts/modules:

• Kinematics Solver
• Arm Config File
• Rapidly exploring Random Tree planner
• Vertex and Path visualizer

The DH parameters specified in ArmConfig file can be changed to any other manipulator DH paramaters.

• Conventional RRT
• Bi-directional RRT
• Path Optimization
• IK Solver