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1. mpt mpt Public

   Motion Planning Templates creates fast, parallel, robot-specific motion planners.

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2. nigh nigh Public

   Concurrent exact nearest neighbor searching in robotics-relevant spaces, including Euclidean, SO(3), SE(3) and weighted combinations thereof

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3. steerable-needle-planner steerable-needle-planner Public

   For medical steerable needles, efficiently compute motion plans that consider constraints such as the steerable needle’s maximum curvature and avoidance of anatomical obstacles.

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4. IRIS IRIS Public

   IRIS plans motions that allow a robot to inspect a set of points of interest (POIs), aiming at maximizing the number of POI inspected with the shortest length.

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5. Med-RAD Med-RAD Public

   A dataset of patient-derived anatomical environments with clinical tasks for medical robots.

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6. Med-MPD Med-MPD Public

   A dataset of patient-derived anatomical environments with clinical tasks for motion planning for medical robots. (Superseded by the Med-RAD repository).

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