ServoPy
From robot targets to controlled motion. A ROS-independent C++ core with a Python API for online joint and Cartesian servoing.
Documentation · Source · 中文介绍
ServoPy turns joint or Cartesian targets and measured feedback into bounded motion references. It supports position, velocity, pose and twist commands; native URDF or optional Pinocchio kinematics; DLS or bounded QP solvers; and optional Ruckig jerk control. NumPy is the only required third-party Python runtime dependency.
Install on Ubuntu
Prebuilt Linux wheels target CPython 3.10–3.14, x86_64 / ARM64, and glibc 2.28 or newer. A matching wheel needs no C++ compiler, CMake, Eigen installation or ROS. Ubuntu 22.04 and 24.04 provide suitable default Python versions; on Ubuntu 20.04, install Python 3.10 or newer in a separate environment first. Python 3.8/3.9, 32-bit and free-threaded builds are outside this wheel matrix.
python3 -m venv .venv
source .venv/bin/activate
python -m pip install --upgrade pip
python -m pip install --only-binary=:all: servo-py
python -m servo_py.examples.track_pose
If Ubuntu reports that venv is missing, install its matching python3-venv package. The example uses bundled URDF data, runs without a checkout or display, and finishes in HOLD with a position error of about 9.8e-5 m.
Panda simulation
python -m pip install --only-binary=:all: 'servo-py[mujoco]'
servo-py-panda --control-mode joint-position
For a machine without a desktop, run servo-py-panda --headless. The default demo runs an 18-second simulation. Choose torque, joint-position or ik-position; press Space to pause the viewer. Video recording also needs a working graphics backend.
The wheel and source distribution do not contain Panda model assets. On first use the demo downloads a fixed, approximately 5 MB archive, verifies its SHA-256, and caches it under ~/.cache/servo-py (or $XDG_CACHE_HOME/servo-py). Further runs reuse the cache offline. Installing or importing ServoPy, the basic URDF example and servo-py-panda --help do not download this model. For offline setup, supply the pinned archive via SERVO_PY_PANDA_ARCHIVE=/path/to/panda.zip; see the model setup guide. The small provenance manifest and license are included in the package.
Optional dependencies
servo-py[mujoco]: simulation, viewer and video recording.servo-py[pinocchio]: Pinocchio kinematics.servo-py[ruckig]: Ruckig 0.19.4 trajectory smoothing. Its upstream Linux wheels currently cover x86_64; installing this extra on ARM64 requires an upstream source build.
Extras can be combined, for example python -m pip install 'servo-py[mujoco,ruckig]' on x86_64. See the installation guide and Panda tutorial.
Source builds and scope
Source builds require Python 3.10 or newer, a compiler and standard library supporting C++17 or newer, CMake 3.20 or newer, and Eigen headers (provided by cmeel-eigen>=3.4,<4 during isolated pip builds). C++17 is the minimum language standard.
ServoPy generates references; your application owns feedback, actuator commands and device stopping. Physical-robot validation, geometric collision checking and hard real-time execution are outside the current verified scope. See the design contract and validation record.
ServoPy is MIT-licensed. The separately downloaded Panda assets are Apache-2.0; see NOTICE. This is an independent project and does not claim MoveIt compatibility.
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Metadata
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Release files for servo-py 0.3.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | |
|---|---|---|---|---|
| servo_py-0.3.0.tar.gz | 6.1 MB | With provenance | Details |
Built distributions (wheels)
| File | Reset | |||
|---|---|---|---|---|
| servo_py-0.3.0-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.14 | CPython 3.14 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| servo_py-0.3.0-cp314-cp314-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl | CPython 3.14 | CPython 3.14 | Linux glibc 2.28+ ARM64, Linux glibc 2.26+ ARM64 | Details |
| servo_py-0.3.0-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.13 | CPython 3.13 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| servo_py-0.3.0-cp313-cp313-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl | CPython 3.13 | CPython 3.13 | Linux glibc 2.28+ ARM64, Linux glibc 2.26+ ARM64 | Details |
| servo_py-0.3.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.12 | CPython 3.12 | Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 | Details |
| servo_py-0.3.0-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl | CPython 3.12 | CPython 3.12 | Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64 | Details |
| servo_py-0.3.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 | Details |
| servo_py-0.3.0-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64 | Details |
| servo_py-0.3.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 | Details |
| servo_py-0.3.0-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64 | Details |
Total release size: 10.1 MB
Release files / servo_py-0.3.0.tar.gz
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