Installation instruction

The robotics toolbox works with Python versions 3.10, 3.11 and 3.12. On Linux it can be installed through conda or through a virtual environment and pip - dependencies are managed through PDM. On Windows and Mac, only conda is allowed as some of the dependencies are not available through pip. See instructions below for each platform, we recommend using linux as it is the most tested platform.

Clone the repository

Before installing, you need to first clone your repository (the copy you created from the template) and navigate to the root of the repository.

git clone <your_github_repo>
cd <your_github_repo_name>

Conda installation

If you are going to use Conda (recommended for linux, required for Win/Mac), you need to have it installed. Other conda alternatives like miniconda are also fine. For installation, see official conda installation guide. Our more detailed instructions for windows are available conda_windows.

Conda Windows Installation

Creating environment and installing dependencies

Linux

Preferred option is through conda for reproducibility.

conda create -n ctu_robotics python=3.10
conda activate ctu_robotics
conda install -c conda-forge 'pdm>=2.15'
pdm install # this will install the toolbox and all the dependencies

If you dare, you can use PDM directly without conda:

# First install PDM https://pdm-project.org/en/latest/
pdm venv create -v --with-pip 3.10
source .venv/bin/activate
pdm install

Windows, MacOS, or Linux with dependencies installed through conda

conda create -n ctu_robotics python=3.10
conda activate ctu_robotics
conda install -c conda-forge pinocchio robomeshcat example-robot-data matplotlib numpy pycollada shapely anytree ruff black pytest opencv
pip install --no-deps -e .