MotionBenchMaker - Pinocchio

Simulator-agnostic benchmarking framework for planners in robot manipulation problems

MotionBenchMaker-Pinocchio is a Python reimplementation of MotionBenchMaker built on Pinocchio, Coal, MeshCat, and OMPL.

The project provides:

  • A library of motion-planning benchmark environments
  • Problem generation through inverse kinematics
  • Collision-aware OMPL planning
  • Benchmarking utilities compatible with PlannerArena
  • Visualization through MeshCat
Representative benchmark environments included in MotionBenchMaker-Pinocchio.