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py-parry3d

Python bindings for parry3d collision detection, optimized for batch operations with NumPy.

Features

  • Batch-first: Process millions of collision queries with minimal Python overhead
  • NumPy native: Zero-copy data exchange using contiguous arrays
  • Parallel: Automatic multi-threading via Rayon
  • Serializable: Cache collision worlds with pre-built BVHs

Installation

pip install py-parry3d

Quick Start

import numpy as np
import py_parry3d as pp

# Define collision shapes
robot_link = pp.CollisionGroup("robot", [pp.Capsule(half_height=0.4, radius=0.08)])
obstacle = pp.CollisionGroup("obstacle", [pp.Box(half_extents=[0.3, 0.3, 0.3])],
                              static=True, transform=np.eye(4))

# Create world
world = pp.CollisionWorld([robot_link, obstacle])

# Check collisions for 1000 robot poses
N = 1000
# Transforms must be rigid: a proper rotation in the 3x3 block, a
# [0, 0, 0, 1] bottom row, and no NaN/Inf. Anything else raises ValueError.
transforms = {"robot": np.tile(np.eye(4), (N, 1, 1))}  # Your actual poses here
pairs = [("robot", "obstacle", 0.0)]  # (group_a, group_b, min_distance)

collisions = world.check(transforms, pairs)  # (N, 1) bool array
print(f"Collisions: {collisions.sum()} / {N}")

Shapes

# Primitives
pp.Box(half_extents=[0.5, 0.3, 0.2])
pp.Sphere(radius=0.1)
pp.Capsule(half_height=0.5, radius=0.1)  # Z-axis aligned
pp.Cylinder(half_height=0.5, radius=0.1)  # Z-axis aligned

# Meshes
pp.TriMesh(vertices, faces)  # (N,3) float64, (M,3) uint32
pp.TriMesh.from_trimesh(mesh)  # From trimesh object

# Convex hull (faster than TriMesh)
pp.ConvexHull_from_trimesh(mesh)

Solid vs Hollow

Shape Type Inside Detection
Box, Sphere, Capsule, Cylinder, ConvexHull Solid Detects objects inside
TriMesh Hollow Surface contact only

API

Groups and World

# Dynamic group - transform provided at check time
robot = pp.CollisionGroup("robot", [shape1, shape2])

# Static group - fixed transform
env = pp.CollisionGroup("env", [shape], static=True, transform=tf)

# World
world = pp.CollisionWorld([robot, env])

Transforms

All 4x4 transforms - a CollisionObject local offset, a static group's transform, and every pose passed to check/check_any - must be rigid:

  • the upper-left 3x3 block is a proper rotation (orthonormal, determinant +1); no scale, no shear, no reflection;
  • the bottom row is [0, 0, 0, 1];
  • every entry is finite - no NaN, no Inf.

Violations raise ValueError naming the failed check and the offending value. Orthonormality is checked to a tolerance of 1e-6, far above the float drift of an accumulated forward-kinematics product (~1e-15) and far below a genuine error such as a 2x scale.

Collision Checking

# Batch check
result = world.check(transforms, pairs)  # (N, n_pairs) bool array

# Early-exit (stops at first collision)
idx = world.check_any(transforms, pairs)  # int or None

Pair Helpers

# All pairs between groups
pairs = pp.all_pairs(["l1", "l2", "l3"], skip_adjacent=1)

# Groups vs target
pairs = pp.pairs_vs(["l1", "l2"], "obstacle", min_distance=0.05)

Threading

pp.set_num_threads(8)  # Default: all cores

Serialization

data = world.to_bytes()
world = pp.CollisionWorld.from_bytes(data)
# Pickle also supported

Documentation

License

MIT

Metadata

Release files for py-parry3d 0.0.3

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

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Source distribution for py-parry3d 0.0.3
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Table of built distributions (wheels) for py-parry3d 0.0.3
File
py_parry3d-0.0.3-pp311-pypy311_pp73-musllinux_1_2_x86_64.whl PyPy 3.11 PyPy 3.11 7.3 Linux musl 1.2+ x86-64 Details
py_parry3d-0.0.3-pp311-pypy311_pp73-musllinux_1_2_i686.whl PyPy 3.11 PyPy 3.11 7.3 Linux musl 1.2+ x86-32 Details
py_parry3d-0.0.3-pp311-pypy311_pp73-musllinux_1_2_armv7l.whl PyPy 3.11 PyPy 3.11 7.3 Linux musl 1.2+ ARMv7l Details
py_parry3d-0.0.3-pp311-pypy311_pp73-musllinux_1_2_aarch64.whl PyPy 3.11 PyPy 3.11 7.3 Linux musl 1.2+ ARM64 Details
py_parry3d-0.0.3-pp311-pypy311_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl PyPy 3.11 PyPy 3.11 7.3 Linux glibc 2.17+ x86-64 Details
py_parry3d-0.0.3-pp311-pypy311_pp73-manylinux_2_17_s390x.manylinux2014_s390x.whl PyPy 3.11 PyPy 3.11 7.3 Linux glibc 2.17+ IBM System/390x Details
py_parry3d-0.0.3-pp311-pypy311_pp73-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl PyPy 3.11 PyPy 3.11 7.3 Linux glibc 2.17+ PowerPC 64-le Details
py_parry3d-0.0.3-pp311-pypy311_pp73-manylinux_2_17_i686.manylinux2014_i686.whl PyPy 3.11 PyPy 3.11 7.3 Linux glibc 2.17+ x86-32 Details
py_parry3d-0.0.3-pp311-pypy311_pp73-manylinux_2_17_armv7l.manylinux2014_armv7l.whl PyPy 3.11 PyPy 3.11 7.3 Linux glibc 2.17+ ARMv7l Details
py_parry3d-0.0.3-pp311-pypy311_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl PyPy 3.11 PyPy 3.11 7.3 Linux glibc 2.17+ ARM64 Details
py_parry3d-0.0.3-cp315-cp315t-manylinux_2_17_x86_64.manylinux2014_x86_64.whl CPython 3.15 CPython 3.15 free-threading Linux glibc 2.17+ x86-64 Details
py_parry3d-0.0.3-cp315-cp315t-manylinux_2_17_i686.manylinux2014_i686.whl CPython 3.15 CPython 3.15 free-threading Linux glibc 2.17+ x86-32 Details
py_parry3d-0.0.3-cp315-cp315-manylinux_2_17_x86_64.manylinux2014_x86_64.whl CPython 3.15 CPython 3.15 Linux glibc 2.17+ x86-64 Details
py_parry3d-0.0.3-cp315-cp315-manylinux_2_17_i686.manylinux2014_i686.whl CPython 3.15 CPython 3.15 Linux glibc 2.17+ x86-32 Details
py_parry3d-0.0.3-cp314-cp314t-musllinux_1_2_x86_64.whl CPython 3.14 CPython 3.14 free-threading Linux musl 1.2+ x86-64 Details
py_parry3d-0.0.3-cp314-cp314t-musllinux_1_2_i686.whl CPython 3.14 CPython 3.14 free-threading Linux musl 1.2+ x86-32 Details
py_parry3d-0.0.3-cp314-cp314t-musllinux_1_2_armv7l.whl CPython 3.14 CPython 3.14 free-threading Linux musl 1.2+ ARMv7l Details
py_parry3d-0.0.3-cp314-cp314t-musllinux_1_2_aarch64.whl CPython 3.14 CPython 3.14 free-threading Linux musl 1.2+ ARM64 Details
py_parry3d-0.0.3-cp314-cp314t-manylinux_2_17_x86_64.manylinux2014_x86_64.whl CPython 3.14 CPython 3.14 free-threading Linux glibc 2.17+ x86-64 Details
py_parry3d-0.0.3-cp314-cp314t-manylinux_2_17_s390x.manylinux2014_s390x.whl CPython 3.14 CPython 3.14 free-threading Linux glibc 2.17+ IBM System/390x Details
py_parry3d-0.0.3-cp314-cp314t-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl CPython 3.14 CPython 3.14 free-threading Linux glibc 2.17+ PowerPC 64-le Details
py_parry3d-0.0.3-cp314-cp314t-manylinux_2_17_i686.manylinux2014_i686.whl CPython 3.14 CPython 3.14 free-threading Linux glibc 2.17+ x86-32 Details
py_parry3d-0.0.3-cp314-cp314t-manylinux_2_17_armv7l.manylinux2014_armv7l.whl CPython 3.14 CPython 3.14 free-threading Linux glibc 2.17+ ARMv7l Details
py_parry3d-0.0.3-cp314-cp314t-manylinux_2_17_aarch64.manylinux2014_aarch64.whl CPython 3.14 CPython 3.14 free-threading Linux glibc 2.17+ ARM64 Details
py_parry3d-0.0.3-cp314-cp314-win_amd64.whl CPython 3.14 CPython 3.14 Windows x86-64 Details
py_parry3d-0.0.3-cp314-cp314-win32.whl CPython 3.14 CPython 3.14 Windows x86-32 Details
py_parry3d-0.0.3-cp314-cp314-musllinux_1_2_x86_64.whl CPython 3.14 CPython 3.14 Linux musl 1.2+ x86-64 Details
py_parry3d-0.0.3-cp314-cp314-musllinux_1_2_i686.whl CPython 3.14 CPython 3.14 Linux musl 1.2+ x86-32 Details
py_parry3d-0.0.3-cp314-cp314-musllinux_1_2_armv7l.whl CPython 3.14 CPython 3.14 Linux musl 1.2+ ARMv7l Details
py_parry3d-0.0.3-cp314-cp314-musllinux_1_2_aarch64.whl CPython 3.14 CPython 3.14 Linux musl 1.2+ ARM64 Details
py_parry3d-0.0.3-cp314-cp314-manylinux_2_17_x86_64.manylinux2014_x86_64.whl CPython 3.14 CPython 3.14 Linux glibc 2.17+ x86-64 Details
py_parry3d-0.0.3-cp314-cp314-manylinux_2_17_s390x.manylinux2014_s390x.whl CPython 3.14 CPython 3.14 Linux glibc 2.17+ IBM System/390x Details
py_parry3d-0.0.3-cp314-cp314-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl CPython 3.14 CPython 3.14 Linux glibc 2.17+ PowerPC 64-le Details
py_parry3d-0.0.3-cp314-cp314-manylinux_2_17_i686.manylinux2014_i686.whl CPython 3.14 CPython 3.14 Linux glibc 2.17+ x86-32 Details
py_parry3d-0.0.3-cp314-cp314-manylinux_2_17_armv7l.manylinux2014_armv7l.whl CPython 3.14 CPython 3.14 Linux glibc 2.17+ ARMv7l Details
py_parry3d-0.0.3-cp314-cp314-manylinux_2_17_aarch64.manylinux2014_aarch64.whl CPython 3.14 CPython 3.14 Linux glibc 2.17+ ARM64 Details
py_parry3d-0.0.3-cp314-cp314-macosx_11_0_arm64.whl CPython 3.14 CPython 3.14 macOS 11.0+ ARM64 Details
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py_parry3d-0.0.3-cp313-cp313-musllinux_1_2_x86_64.whl CPython 3.13 CPython 3.13 Linux musl 1.2+ x86-64 Details
py_parry3d-0.0.3-cp313-cp313-musllinux_1_2_i686.whl CPython 3.13 CPython 3.13 Linux musl 1.2+ x86-32 Details
py_parry3d-0.0.3-cp313-cp313-musllinux_1_2_armv7l.whl CPython 3.13 CPython 3.13 Linux musl 1.2+ ARMv7l Details
py_parry3d-0.0.3-cp313-cp313-musllinux_1_2_aarch64.whl CPython 3.13 CPython 3.13 Linux musl 1.2+ ARM64 Details
py_parry3d-0.0.3-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl CPython 3.13 CPython 3.13 Linux glibc 2.17+ x86-64 Details
py_parry3d-0.0.3-cp313-cp313-manylinux_2_17_s390x.manylinux2014_s390x.whl CPython 3.13 CPython 3.13 Linux glibc 2.17+ IBM System/390x Details
py_parry3d-0.0.3-cp313-cp313-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl CPython 3.13 CPython 3.13 Linux glibc 2.17+ PowerPC 64-le Details
py_parry3d-0.0.3-cp313-cp313-manylinux_2_17_i686.manylinux2014_i686.whl CPython 3.13 CPython 3.13 Linux glibc 2.17+ x86-32 Details
py_parry3d-0.0.3-cp313-cp313-manylinux_2_17_armv7l.manylinux2014_armv7l.whl CPython 3.13 CPython 3.13 Linux glibc 2.17+ ARMv7l Details
py_parry3d-0.0.3-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl CPython 3.13 CPython 3.13 Linux glibc 2.17+ ARM64 Details
py_parry3d-0.0.3-cp313-cp313-macosx_11_0_arm64.whl CPython 3.13 CPython 3.13 macOS 11.0+ ARM64 Details
py_parry3d-0.0.3-cp312-cp312-win_amd64.whl CPython 3.12 CPython 3.12 Windows x86-64 Details
py_parry3d-0.0.3-cp312-cp312-musllinux_1_2_x86_64.whl CPython 3.12 CPython 3.12 Linux musl 1.2+ x86-64 Details
py_parry3d-0.0.3-cp312-cp312-musllinux_1_2_i686.whl CPython 3.12 CPython 3.12 Linux musl 1.2+ x86-32 Details
py_parry3d-0.0.3-cp312-cp312-musllinux_1_2_armv7l.whl CPython 3.12 CPython 3.12 Linux musl 1.2+ ARMv7l Details
py_parry3d-0.0.3-cp312-cp312-musllinux_1_2_aarch64.whl CPython 3.12 CPython 3.12 Linux musl 1.2+ ARM64 Details
py_parry3d-0.0.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl CPython 3.12 CPython 3.12 Linux glibc 2.17+ x86-64 Details
py_parry3d-0.0.3-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl CPython 3.12 CPython 3.12 Linux glibc 2.17+ IBM System/390x Details
py_parry3d-0.0.3-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl CPython 3.12 CPython 3.12 Linux glibc 2.17+ PowerPC 64-le Details
py_parry3d-0.0.3-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl CPython 3.12 CPython 3.12 Linux glibc 2.17+ x86-32 Details
py_parry3d-0.0.3-cp312-cp312-manylinux_2_17_armv7l.manylinux2014_armv7l.whl CPython 3.12 CPython 3.12 Linux glibc 2.17+ ARMv7l Details
py_parry3d-0.0.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl CPython 3.12 CPython 3.12 Linux glibc 2.17+ ARM64 Details
py_parry3d-0.0.3-cp312-cp312-macosx_11_0_arm64.whl CPython 3.12 CPython 3.12 macOS 11.0+ ARM64 Details
py_parry3d-0.0.3-cp311-cp311-win_amd64.whl CPython 3.11 CPython 3.11 Windows x86-64 Details
py_parry3d-0.0.3-cp311-cp311-musllinux_1_2_x86_64.whl CPython 3.11 CPython 3.11 Linux musl 1.2+ x86-64 Details
py_parry3d-0.0.3-cp311-cp311-musllinux_1_2_i686.whl CPython 3.11 CPython 3.11 Linux musl 1.2+ x86-32 Details
py_parry3d-0.0.3-cp311-cp311-musllinux_1_2_armv7l.whl CPython 3.11 CPython 3.11 Linux musl 1.2+ ARMv7l Details
py_parry3d-0.0.3-cp311-cp311-musllinux_1_2_aarch64.whl CPython 3.11 CPython 3.11 Linux musl 1.2+ ARM64 Details
py_parry3d-0.0.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl CPython 3.11 CPython 3.11 Linux glibc 2.17+ x86-64 Details
py_parry3d-0.0.3-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl CPython 3.11 CPython 3.11 Linux glibc 2.17+ IBM System/390x Details
py_parry3d-0.0.3-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl CPython 3.11 CPython 3.11 Linux glibc 2.17+ PowerPC 64-le Details
py_parry3d-0.0.3-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl CPython 3.11 CPython 3.11 Linux glibc 2.17+ x86-32 Details
py_parry3d-0.0.3-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.whl CPython 3.11 CPython 3.11 Linux glibc 2.17+ ARMv7l Details
py_parry3d-0.0.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl CPython 3.11 CPython 3.11 Linux glibc 2.17+ ARM64 Details
py_parry3d-0.0.3-cp311-cp311-macosx_11_0_arm64.whl CPython 3.11 CPython 3.11 macOS 11.0+ ARM64 Details

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