Next Steps

You can now load robots, compute FK, and plan motions. Here’s where to go based on what you want to do.

“I want to…”

…avoid obstacles during planning

Add collision objects to a Scene and plan around them.

→ Planning with Obstacles (Rust) or Planning in Python

…control a robot in real-time

Use Servo for teleoperation with joystick, spacemouse, or programmatic twist commands at 500 Hz.

→ Servo Control (Rust) or Servo Control in Python

…do pick and place

Plan approach, grasp, retreat, transport, and place with task composition.

→ Pick and Place (Rust) or Pick and Place in Python

…choose the right IK solver

10 solvers with different trade-offs. The flowchart tells you which to use.

→ IK Solver Selection

…choose the right planner

14 algorithms. RRT-Connect is the default, but GCS is globally optimal and EST handles narrow passages.

→ Planner Selection Guide

…use Python

Full API with numpy integration, type stubs for IDE autocomplete, and matplotlib-friendly trajectory export.

→ Python Quickstart

…understand the algorithms

Learn what FK, IK, RRT, and RMP actually do, with diagrams and examples.

→ Core Concepts — start with the Glossary

…deploy to production

Checklist for safety validation, error handling, monitoring, and trajectory verification.

→ Production Deployment

…migrate from MoveIt2

Step-by-step migration with config translation and API mapping.

→ From MoveIt2

…add my own robot

Load custom URDFs and create kinetic configuration files.

→ Custom Robots

…integrate with HORUS

Use kinetic as PlannerNode, ServoNode, and SceneNode in the HORUS robotics framework.

→ HORUS Integration

…optimize with GPU

Parallel-seed trajectory optimization using wgpu compute shaders.

→ GPU Optimization

…contribute to kinetic

Add planners, IK solvers, robot configs, or documentation.

→ Contributing and Extending Kinetic

Learning Path

If you want to learn kinetic systematically, follow this order:

1. Core Concepts — understand the fundamentals
2. FK and IK Tutorial — kinematics hands-on
3. Planning Basics — your first planner
4. Planning with Obstacles — scenes and collision
5. Servo Control — real-time control
6. Pick and Place — complete workflow
7. Production Deployment — deploying on real robots