PyRoboPlan

Educational Python library for manipulator motion planning.

This library extensively uses the Pinocchio Python bindings for modeling robot kinematics and dynamics.

For more information, refer to the full documentation, this blog post on motion planning, or this YouTube presentation.

By Sebastian Castro, 2024-2025

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Setup

From PyPi

pip3 install pyroboplan

From Source

Clone this repository.

git clone https://github.com/sea-bass/pyroboplan.git

(Optional) Set up a virtual environment and install dependencies.

source scripts/setup_virtual_env.bash

Install this package and its dependencies.

pip3 install -e .

External dependencies

We are using Git submodules to manage external dependencies that must be included from source.

To set up this repo's submodules, the following step is required.

git submodule init
git submodule update

TOPP-RA

To use the TOPP-RA repository for trajectory timing, you must install it as follows.

cd external/toppra
pip3 install -e .

The examples/cartesian_path.py script currently uses TOPP-RA as an option.