Pyrobopath

PyRoboPath is a Python package for working with robotic toolpaths. The target functionalities include:

• G-code interpretation and Python interfaces for working with G-code toolpaths in Python - including tools for path modification and visualization
• Path smoothing and trajectory parameterization
• Collision checking with python-fcl and custom interfaces
• A scheduling library providing interfaces for robotic toolpath scheduling
• Planning algorithms for scheduling multi-agent toolpaths

Note

This project is under heavy development and subject to changes in API and functionality.

Installation

Install pyrobopath from the PyPI package index.

pip install pyrobopath 

To install the python package locally from source, clone the repository and install with pip.

git clone git@github.com:alexarbogast/pyrobopath.git
cd pyrobopath
pip install -e .

If you would like to run the tests or build the docs locally.

pip install -e .[dev,docs]

To verify the installation, run tests with pytest or unittest

pytest # pytest
python3 -m unittest # unittest

ROS interfaces

See the pyrobopath_ros package for ROS interfaces to pyrobopath.

Documentation

Checkout the Pyrobopath Documentation for installation help, examples, and API reference.

Usage

See examples.py for python usage demos.