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 .

TOPP-RA (optional)

If you want to use the TOPP-RA repository for path optimization (implemented in examples/cartesian_path.py).

git submodule init
git submodule update
cd toppra
pip3 install -e .