Spatial Geometry

A Python Robotics Package QUT Centre for Robotics Open Source

PyPI version Anaconda version PyPI - Python Version License: MIT

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GitHub repository  |  Documentation

Spatial Geometry provides simple 3D shape primitives -- cuboids, cylinders, spheres, and triangle meshes -- for representing robot links, obstacles, and other geometry in a scene. Every shape carries a pose (position and orientation) and an optional colour, and can be tested for distance and collision against any other shape using Coal.

It's used by the Robotics Toolbox for Python to describe robot link geometry, and by Swift to render scenes in the browser.

Quick start

import spatialgeometry as gm
from spatialmath import SE3

cube = gm.Cuboid([1, 1, 1], pose=SE3(0, 0, 0))
sphere = gm.Sphere(0.5, pose=SE3(2, 0, 0), color="red")

d, p1, p2 = cube.closest_point(sphere, inf_dist=10)
cube.iscollided(sphere)

See the documentation for the full API reference and more examples, including how to display shapes with Swift.

Installation

pip (standard)

pip install spatialgeometry

JupyterLite / Pyodide

For browser runtimes (JupyterLite/Pyodide), use a pure-Python wheel build:

SPATIALGEOMETRY_BUILD_EXTENSION=0 python -m build --wheel

This disables native C-extension compilation and produces a wheel that uses the Python scene backend (spatialgeometry.scene).

Collision functionality depends on Coal and is not expected to work in JupyterLite.

For collision support:

pip install spatialgeometry[collision]

This installs Coal and trimesh. Coal publishes prebuilt wheels for macOS (including Apple Silicon/arm64) and Linux — no conda or manual build steps required there.

Windows note: Coal doesn't currently install via pip on Windows (one of its own dependencies, cmeel-assimp, has no Windows wheel in the version range Coal needs), so the collision extra skips it there and collision checking is unavailable via pip on Windows. Everything else in the package works normally.

Workaround: conda-forge publishes coal-python built for win-64 against its own assimp, sidestepping the missing wheel entirely:

conda install -c conda-forge coal-python
pip install spatialgeometry trimesh

If you don't need collision checking but do want to work with mesh files -- e.g. Mesh.corners()/bounds()/extents() for a mesh's bounding box, which reads the file via trimesh but never touches Coal at all -- install just that piece:

pip install spatialgeometry[mesh]

Unlike collision, this works on Windows too: trimesh has no Windows-wheel problem of its own, only Coal does.

conda / conda-forge

For development, the provided environment.yml installs the package in editable mode with all dev and collision extras:

conda env create -f environment.yml
conda activate spatialgeometry-dev

License

MIT — see LICENSE.

Project links

Data verified by PyPI on Aug 22, 2026
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Avatar for jhavl from gravatar.com jhavl Avatar for petercorke from gravatar.com petercorke

Credits

Author: Jesse Haviland

GitHub Statistics

Data verified by PyPI on Aug 22, 2026
The GitHub source repository was provided by the project maintainers and verified by PyPI at the time of upload. Stars, forks, and open issues/PRs are derived from that repository and have not been independently verified.

License

MIT License (MIT License)

Requires

Python >=3.10

Provides Extra

mesh collision dev docs

Tags

python robotics robotics-toolbox kinematics dynamics motion-planning trajectory-generation jacobian hessian control simulation robot-manipulator mobile-robot

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