RoboSandbox for Manipulator Design and Analysis

An Open-Source Python Framework for Manipulator Design and Analysis

Contents

• Synopsis
• Tutorials
• Code Examples

Synopsis

RoboSandbox, an open-source Python framework designed for robotic manipulator design and analysis. Different robot models and their workspaces can be evaluated, providing a unified environment for reach, global index, and other performance metrics.

The design goals are:

• accessibility: being open-source, documented, and widely tested to ensure reliability and reproducibility, while also providing crossplatform compatibility across Windows, Linux, and MacOS environments.
• extensibility: It emphasizes extensibility through a modular structure that facilitates seamless integration of new features and functionalities, such as the addition of extra indices for measuring robotic performance.
• optimization-driven: the system supports optimization-driven manipulator design processes through its modular architecture, where submodules can integrate into optimization loops to enable iterative design refinement and evaluation.

Installation

Local Installation

To install RoboSandbox, it is recommended to use uv, a lightweight and fast package manager. You can install it by following the instructions

After installing uv, you can install RoboSandbox with the following command:

git clone git@github.com:chaoyuefei/RoboSandbox.git
cd RoboSandbox
uv sync
uv run src/robosandbox/visualization/app_standalone.py

To run the tests, use the following command:

uv run pytest tests/

Tutorials