Does this contributed planner only serve Cartesian space (point mass problem?), and is it not possible to plan for multi-joint robots (C space)?

[sunnymints]

I have a question, does these contributed planner only serve Cartesian space (point mass problem?), and is it not possible to plan for multi-joint robots (C space)?

I have only seen def get_free_motion_gen(robot, fixed=[], teleport=False, self_collisions=True):function a about planning, and I don't know how to specify sampling algorithms such as RRT. So I want to know more about the usage of related APIs. Where can I see the documentation?

Document (https://pybullet-planning.readthedocs.io/en/latest/) does not seem to match your API