This project is a fork of RoboticsLibrary. Details: http://www.roboticslibrary.org Build Instructions: http://www.roboticslibrary.org/tutorials/build-ubuntu If you want to try the Contact planner: run build/demos/rlPlanDemo/rlPlanDemo and open rl-examples-0.6.2/rlplan/box-2d-narrow-region_pcrrt.xml Hit space to start planning and F12 to reset the planner. Troubleshooting: Q: I cannot build the robotics library under Ubuntu 16.04 A: The launchpad repository is broken for 16.04. Markus Rickert (roboticslibrary developer) told me there will be a new version very soon that works under 16.04. Q: The planner says "start or goal invalid" for the plan file above A: You need an english number format in your OS. On Ubuntu type "locale" in the shell - there should be something like LC_NUMERIC=en_US.UTF-8. If it says something with "DE" you have to change the LC_NUMERIC field in /etc/default/locale