Section 2

Installation

articulatearena is on PyPI. It requires Python ≥ 3.10 and depends only on numpy, scipy, and pyyaml:

$ pip install articulatearena

The install also provides the articulatearena command described under Command-line usage. The optional mesh extra (pip install "articulatearena[mesh]") adds trimesh for mesh-derived link inertia, which the kinetic-energy norm needs when the URDF carries no inertial data.

To work from a source checkout instead, run pip install -e . at the repository root. The editable install registers the same import name, and the bundled scripts also run without installation, as they place the package directory on sys.path themselves.