ruckig

library0.17.3pypypi✓ verified 86d ago

Ruckig is a real-time motion generation library for robots and machines, providing instantaneous trajectory generation for up to 7 degrees of freedom. Current version 0.17.3, requires Python >=3.9. Released under the MIT license, with active development on GitHub.

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pip install ruckig

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INSTALL

IMPORT

SIG · RUCKIG

ruckig

ai-mlpythonv0.17.3

Install

—

Import

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Disk

—

Pass rate

0/ 10

Env Coverage0 / 10

glibc

3.9–3.13

musl

3.9–3.13

Install & Compatibility

Where this runs

tested against v? · pip install

Install × environment matrix

Each cell = how many times install + import succeeded across repeated harness runs. Partial = flaky.
glibc = Debian/Ubuntu slim · musl = Alpine Linux

musl

py 3.10–3.95 runs

build_error

glibc

py 3.10–3.95 runs

build_error

Code

Verified usage

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

Ruckig

✓ from ruckig import Ruckig

✗ import Ruckig

Common mistake: Ruckig is a class inside the module, not a top-level import.

InputParameter

✓ from ruckig import InputParameter

OutputParameter

✓ from ruckig import OutputParameter

Result

✓ from ruckig import Result

Basic example of generating a 1-DOF trajectory from current state to target.

from ruckig import Ruckig, InputParameter, OutputParameter, Result # Create Ruckig instance (DOF=1) otg = Ruckig(1) # Set input parameters inp = InputParameter(1) inp.current_position = [0.0] inp.current_velocity = [0.0] inp.current_acceleration = [0.0] inp.target_position = [1.0] inp.target_velocity = [0.0] inp.target_acceleration = [0.0] inp.max_velocity = [1.0] inp.max_acceleration = [1.0] inp.max_jerk = [10.0] out = OutputParameter(1) result = otg.calculate(inp, out) if result == Result.Working: print('Trajectory generated: {} steps'.format(out.trajectory.duration)) elif result == Result.Finished: print('Already at target.') else: print('Invalid input.')

Debug

Known issues

breakingIn version 0.17.0, the method `calculate` now returns a `Result` enum instead of a boolean. Code checking for `True`/`False` will break.

fix

Check for `Result.Working` or `Result.Finished` (see docs). For a quick fix, use `bool(result == Result.Working)` if you need a boolean.

affects: >=0.17.0

deprecatedThe `Ruckig.set_max_*` methods are deprecated as of 0.17.0. Set limits directly via `InputParameter.max_velocity`, etc.

fix

Replace `otg.set_max_velocity(1.0)` with `inp.max_velocity = [1.0]`.

affects: >=0.17.0

gotchaAll position, velocity, acceleration, and limit fields must be lists of floats (even for 1 DOF). Passing a scalar will raise an error.

fix

Wrap scalars in a list: `inp.current_position = [0.0]`.

affects: all

gotchaThe first call to `calculate` often returns `Result.Working` even if the trajectory is trivial. You must call `calculate` repeatedly until it returns `Result.Finished`.

fix

Use a loop: while (result := otg.calculate(inp, out)) == Result.Working: pass, or use an iterator.

affects: all

breakingPython 3.8 support dropped in version 0.16.0.

fix

Upgrade to Python >=3.9.

affects: >=0.16.0

Errors

Common errors & fixes

ImportError: cannot import name 'Ruckig' from 'ruckig'

Trying to import Ruckig directly with `import Ruckig` instead of `from ruckig import Ruckig`.

fix

Use `from ruckig import Ruckig`.

TypeError: __init__() missing 1 required positional argument: 'dofs'

Creating a Ruckig instance without specifying the number of degrees of freedom.

fix

Pass DOF as an integer: `Ruckig(1)` for single-degree-of-freedom.

ValueError: The input parameter vector size does not match the DOFs.

Setting a field (e.g., `current_position`) with a list of wrong length or a scalar.

fix

Ensure all field lists have length equal to DOF. For 1 DOF, use `[value]`.

Upgrade

Version history

0.17.3latest on PyPI · released Mar 24, 2026

Audit

Dependencies

pybind11requiredHeader-only library for binding C++ to Python, included as a build dependency.

Agent activity

28 hits · last 30 days

node

OpenAI (training)

Resources

githubhttps://github.com/pantor/ruckig ↗

packagehttps://pypi.org/project/ruckig/ ↗

homepagehttps://ruckig.com ↗

docshttps://docs.ruckig.com ↗