Planners
=================================

This section documents the planners provided by the project with a focus on 
planners for robotic motion: path planning, trajectory generation,
collision avoidance, and practical considerations such as smoothness and
dynamic feasibility.

The repository contains several planner implementations — each has a dedicated
page with implementation details and examples. Use the links at the bottom of
this page to jump to a specific planner.

.. contents:: Table of contents
    :local:
    :depth: 2

Overview
--------

The `embodichain` project provides a unified interface for robot trajectory planning, supporting both joint space and Cartesian space interpolation. The main planners include:

- **MotionGenerator**: A unified trajectory planning interface that supports joint/Cartesian interpolation, automatic constraint handling, flexible planner selection, and backend-specific collision-aware planning.
- **ToppraPlanner**: A time-optimal trajectory planner based on the TOPPRA library, supporting joint trajectory generation under velocity and acceleration constraints.
- **NeuralPlanner** (experimental): A learning-based EEF waypoint planner for Franka Panda.
- **CuroboPlanner** (optional): A cuRobo V2 backend that plans on CUDA and supports either CPU or CUDA physics simulation for collision-aware single-arm Cartesian and joint-space planning.
- **TrajectorySampleMethod**: An enumeration for trajectory sampling strategies, supporting sampling by time, quantity, or distance.

These tools can be used to generate smooth and dynamically feasible robot trajectories. Install NVIDIA's CUDA-matched cuRobo source package separately when collision-aware planning against an explicit cuRobo world is required.

Use NeuralPlanner (experimental) when you have a trained APG checkpoint and need
learned EEF waypoint rollout on Franka Panda.

See also
--------

.. toctree::
    :maxdepth: 1

    toppra_planner.md
    neural_planner.md
    curobo_planner.md
    trajectory_sample_method.md
    motion_generator.md