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

Educational Python library for manipulator motion planning
https://github.com/sea-bass/pyroboplan

manipulator planning python

Last synced: 30 days ago
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Educational Python library for manipulator motion planning

• Host: GitHub
• URL: https://github.com/sea-bass/pyroboplan
• Owner: sea-bass
• License: mit
• Created: 2024-01-30T01:54:32.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2025-02-10T23:27:25.000Z (3 months ago)
• Last Synced: 2025-02-11T09:23:02.836Z (3 months ago)
• Topics: manipulator, planning, python
• Language: Python
• Homepage: https://pyroboplan.readthedocs.io
• Size: 23.2 MB
• Stars: 276
• Watchers: 7
• Forks: 28
• Open Issues: 9
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-ai-robotics - **PyRoboPlan** - Educational Python library for manipulator motion planning.This library extensively uses the Pinocchio Python bindings for modeling robot kinematics and dynamics. (Learning Source / Dev Tools)
• awesome-ai-robotics - **PyRoboPlan** - Educational Python library for manipulator motion planning.This library extensively uses the Pinocchio Python bindings for modeling robot kinematics and dynamics. (Learning Source / Dev Tools)

README

        
# PyRoboPlan

[![PyRoboPlan Tests](https://github.com/sea-bass/pyroboplan/actions/workflows/tests.yml/badge.svg?branch=main)](https://github.com/sea-bass/pyroboplan/actions/workflows/tests.yml)

[![Documentation Status](https://readthedocs.org/projects/pyroboplan/badge/?version=latest)](https://pyroboplan.readthedocs.io/en/latest/?badge=latest)

![Coverage Status](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/sea-bass/e5e091166a18c68b26338793917d3bab/raw/pyroboplan-test-coverage.json)

Educational Python library for manipulator motion planning.

This library extensively uses the [Pinocchio](https://github.com/stack-of-tasks/pinocchio) Python bindings for modeling robot kinematics and dynamics.

For more information, refer to the [full documentation](https://pyroboplan.readthedocs.io/en/latest/), this [blog post on motion planning](https://roboticseabass.com/2024/06/30/how-do-robot-manipulators-move), or this [YouTube presentation](https://youtu.be/YYRlypz9ZgE?si=_gavTnLokcEldaQX).

By Sebastian Castro, 2024-2025

![RRT based motion planning and trajectory execution](https://raw.githubusercontent.com/sea-bass/pyroboplan/main/docs/source/_static/gifs/pyroboplan_rrt_traj.gif)

![Cartesian motion planning](https://raw.githubusercontent.com/sea-bass/pyroboplan/main/docs/source/_static/gifs/pyroboplan_cartesian_path.gif)

---

## Setup

### From PyPi

```bash

pip3 install pyroboplan

```

### From Source

Clone this repository.

```bash

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

```

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

```bash

source scripts/setup_virtual_env.bash

```

Install this package and its dependencies.

```bash

pip3 install -e .

```