batchplan 0.5 is out. Releases 0.3 through 0.5 added tool paths, pick-and-place, blended motions, and live replanning and servoing in the core library.
For ROS users, batchplan-ros now supports Cartesian paths and blended motion sequences on Lyrical and Jazzy. The Panda example tries several grasps in one request, picks the shortest path, then approaches the object in a straight line.
Try the browser demo:
git clone https://github.com/natsuku-lab/batchplan-ros
cd batchplan-ros
pixi run demo
Open http://localhost:8080. It runs on simulated hardware, with an optional MoveIt plugin.
The GIF shows the core library planning pen paths for 20 simulated UR5e arms in one batch.
