python-fcl

library0.7.0.11pypypi✓ verified 34d ago

Python bindings for the Flexible Collision Library (FCL), providing collision detection and proximity queries on 3D geometry. Current version 0.7.0.11, requires Python >=3.9. Releases are irregular, mostly bugfix releases.

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github ↗package ↗

Install & Compatibility

Where this runs

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Code

Verified usage

Verified import paths — ran on the pinned version, not inferred.

The main module is 'fcl', not 'python_fcl' or 'pyfcl'.

import fcl

Basic collision check between two identical boxes.

import fcl import numpy as np # Create box geometry box = fcl.Box(1, 1, 1) obj = fcl.CollisionObject(box, fcl.Transform()) # Create collision request/result req = fcl.CollisionRequest() res = fcl.CollisionResult() # Self-collision check (not useful, but simple) ret = fcl.collide(obj, obj, req, res) print(f"Collision? {res.is_collision}")

Debug

Known footguns

breakingVersion 0.7.0.x changed the return type of fcl.collide and fcl.distance from bool to int (return code). Old code checking if ret == True will break.

gotchaPython-fcl uses row-major order for matrices (numpy default), while FCL C++ uses column-major internally. Incorrect transposition can lead to wrong transforms.

gotchaCollisionObject instances must outlive the collision query; they are not copied. Deleting or reusing the same object in parallel can cause segfaults.

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Version history

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Security & dependencies

CVE tracking and dependency tree are planned for a later release.

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Resources

githubhttps://github.com/berkeleyautomation/python-fcl ↗

packagehttps://pypi.org/project/python-fcl/ ↗