Skip to content
Humanoid robotics prototyping environment based on OpenRAVE
Branch: master
Clone or download
Type Name Latest commit message Commit time
Failed to load latest commit information.
doc [doc] Computation of contact wrenches May 17, 2019
examples [bugfix] Point-mass acceleration is now private May 17, 2019
pymanoid Compute adjoint matrices from local to world frame May 17, 2019
.gitmodules QP solvers moved to qpsolvers module May 2, 2018 Compute adjoint matrices from local to world frame May 17, 2019
LICENSE License changed to LGPLv3 Nov 27, 2017 [minor] Add link to tutorial in README Apr 30, 2019 [doc] Document the wrench distribution process May 17, 2019


Humanoid robotics controller prototyping environment based on OpenRAVE. Includes:

Use cases

Getting started


The following instructions were verified on Ubuntu 14.04:

sudo apt-get install cython libglpk-dev python python-dev python-pip python-scipy python-simplejson
  • Install the LP solver: CVXOPT_BUILD_GLPK=1 pip install cvxopt --user
  • Install the QP solver: pip install quadprog --user
  • For polyhedral computations (optional): pip install pycddlib --user

Finally, clone this repository and run the setup script:

git clone --recursive
cd pymanoid
python build
python install --user


For nonlinear numerical optimization, you will need to install CasADi, preferably from source with the MA27 linear solver.

You can’t perform that action at this time.