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

DESIGN.md - Architecture and concepts
EXAMPLES.md - Detailed usage examples

License

MIT

Metadata

Release files for py-parry3d 0.0.4

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Source distribution (sdist)

Source distribution for py-parry3d 0.0.4
File	Size	Uploaded
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Built distributions (wheels)

Table of built distributions (wheels) for py-parry3d 0.0.4
File	Interpreter	ABI	Platform	Reset
py_parry3d-0.0.4-cp314-cp314t-win_amd64.whl 687.5 kB Sep 8, 2026	CPython 3.14	CPython 3.14 free-threading	Windows x86-64	Details
py_parry3d-0.0.4-cp314-cp314t-musllinux_1_2_x86_64.whl 1.1 MB Sep 8, 2026	CPython 3.14	CPython 3.14 free-threading	Linux musl 1.2+ x86-64	Details
py_parry3d-0.0.4-cp314-cp314t-musllinux_1_2_aarch64.whl 1.1 MB Sep 8, 2026	CPython 3.14	CPython 3.14 free-threading	Linux musl 1.2+ ARM64	Details
py_parry3d-0.0.4-cp314-cp314t-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 927.7 kB Sep 8, 2026	CPython 3.14	CPython 3.14 free-threading	Linux glibc 2.17+ x86-64	Details
py_parry3d-0.0.4-cp314-cp314t-manylinux_2_17_aarch64.manylinux2014_aarch64.whl 888.3 kB Sep 8, 2026	CPython 3.14	CPython 3.14 free-threading	Linux glibc 2.17+ ARM64	Details
py_parry3d-0.0.4-cp314-cp314t-macosx_11_0_arm64.whl 788.2 kB Sep 8, 2026	CPython 3.14	CPython 3.14 free-threading	macOS 11.0+ ARM64	Details
py_parry3d-0.0.4-cp314-cp314-win_amd64.whl 690.3 kB Sep 8, 2026	CPython 3.14	CPython 3.14	Windows x86-64	Details
py_parry3d-0.0.4-cp314-cp314-musllinux_1_2_x86_64.whl 1.1 MB Sep 8, 2026	CPython 3.14	CPython 3.14	Linux musl 1.2+ x86-64	Details
py_parry3d-0.0.4-cp314-cp314-musllinux_1_2_aarch64.whl 1.1 MB Sep 8, 2026	CPython 3.14	CPython 3.14	Linux musl 1.2+ ARM64	Details
py_parry3d-0.0.4-cp314-cp314-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 926.9 kB Sep 8, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.17+ x86-64	Details
py_parry3d-0.0.4-cp314-cp314-manylinux_2_17_aarch64.manylinux2014_aarch64.whl 887.2 kB Sep 8, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.17+ ARM64	Details
py_parry3d-0.0.4-cp314-cp314-macosx_11_0_arm64.whl 790.7 kB Sep 8, 2026	CPython 3.14	CPython 3.14	macOS 11.0+ ARM64	Details
py_parry3d-0.0.4-cp313-cp313-win_amd64.whl 688.9 kB Sep 8, 2026	CPython 3.13	CPython 3.13	Windows x86-64	Details
py_parry3d-0.0.4-cp313-cp313-musllinux_1_2_x86_64.whl 1.1 MB Sep 8, 2026	CPython 3.13	CPython 3.13	Linux musl 1.2+ x86-64	Details
py_parry3d-0.0.4-cp313-cp313-musllinux_1_2_aarch64.whl 1.1 MB Sep 8, 2026	CPython 3.13	CPython 3.13	Linux musl 1.2+ ARM64	Details
py_parry3d-0.0.4-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 928.0 kB Sep 8, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.17+ x86-64	Details
py_parry3d-0.0.4-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl 890.4 kB Sep 8, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.17+ ARM64	Details
py_parry3d-0.0.4-cp313-cp313-macosx_11_0_arm64.whl 791.5 kB Sep 8, 2026	CPython 3.13	CPython 3.13	macOS 11.0+ ARM64	Details
py_parry3d-0.0.4-cp312-cp312-win_amd64.whl 689.6 kB Sep 8, 2026	CPython 3.12	CPython 3.12	Windows x86-64	Details
py_parry3d-0.0.4-cp312-cp312-musllinux_1_2_x86_64.whl 1.1 MB Sep 8, 2026	CPython 3.12	CPython 3.12	Linux musl 1.2+ x86-64	Details
py_parry3d-0.0.4-cp312-cp312-musllinux_1_2_aarch64.whl 1.1 MB Sep 8, 2026	CPython 3.12	CPython 3.12	Linux musl 1.2+ ARM64	Details
py_parry3d-0.0.4-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 928.4 kB Sep 8, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
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Release files / py_parry3d-0.0.4-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

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Release files / py_parry3d-0.0.4-cp312-cp312-macosx_11_0_arm64.whl

Download URL	py_parry3d-0.0.4-cp312-cp312-macosx_11_0_arm64.whl
Size	793.0 kB
Tags	CPython 3.12 macOS 11.0+ ARM64
SHA-256 checksum How to use checksums	`7f323a8d4d3551c4b1453b9bb3d9f3b93986a44a45d84ab70ebab349e801f966`
BLAKE2b-256 checksum How to use checksums	`bd2f38b718c0fe19127eca793807c26b057e23a88ea3d56efc08b9bf89742a71`
Upload date	Sep 8, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/7.0.0 CPython/3.13.14`

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Publishing platform: GitHub Actions
Publishing repository: github.com/CEAD-group/py-parry3d
Publishing commit: github.com/CEAD-group/py-parry3d/tree/37b4231bcc646765d58be979af09b3dfb0a26dfd

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Publishing logs: github.com/CEAD-group/py-parry3d/actions/runs/34226176250/attempts/1

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Subject: py_parry3d-0.0.4-cp312-cp312-macosx_11_0_arm64.whl
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Release history Release notifications | RSS feed

This release

0.0.4 This release

Sep 8, 2026 25 release files

0.0.3

Sep 8, 2026 74 release files

0.0.2

Sep 8, 2026 74 release files

0.0.1

Jan 8, 2026 76 release files

py-parry3d 0.0.4

py-parry3d

Features

Installation

Quick Start

Shapes

Solid vs Hollow

API

Groups and World

Transforms

Collision Checking

Pair Helpers

Threading

Serialization

Documentation

License

Key dates

1 maintainer

License expression

Requires

Provides Extra

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Metadata

Key dates

1 maintainer

License expression

Requires

Provides Extra

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Release files for py-parry3d 0.0.4

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