Researcher let Claude rewrite Ruckig overnight — the result, charqui, is slightly faster
facontidavide · x · 2026-10-15
Robotics researcher sea-bass left Claude Code overnight to rewrite Ruckig — including its closed-source intermediate-waypoint extensions — in modern C++. The result is charqui, an MIT-licensed open-source project.
- Outcome: slightly faster than the original, with a redesigned API, a local waypoint solver, and numpy-native Python bindings
- Validation: the solver was checked against Ruckig on millions of random problems plus test suites
- Honest labeling: the README flags it as experimental, mostly AI-generated, not yet used on real hardware, and expected to have rough edges, API churn and bugs
A C++23 recreation of jerk-limited online trajectory generation — a notable AI-coding case study for robotics developers.
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