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2025— Planning · Manipulation · Controls· Spring 2025
Franka Manipulation Planning
RRT-Connect, ARA*, and a 7-phase state machine on a 7-DOF Panda — no OMPL, no MoveIt2.
C++MuJoCoRRT-ConnectARA*OSC
- RRT-Connect median
- 28 ms
- ARA* median
- 164 ms
- OSC tracking
- 0.1 mm
- pick-and-place
- 0.3 s