python-fcl
Python bindings for the Flexible Collision Library
Decision gist · record as of 2026-08-14
Yes, if you need collision detection and distance queries in Python and can satisfy the system library prerequisites. The library is actively maintained, supports current Python versions (3.9+), carries no known vulnerabilities, and has a permissive BSD license. The main friction is the upfront system dependency installation; once that is done, the wheels install cleanly. Suitable for robotics, simulation, and computational geometry projects.AI-flagged interpretation of the facts on this page — verify before relying
Before you install
- Requires libfcl-dev and liboctomap-dev system libraries installed before pip install; on Ubuntu use `sudo apt-get install libfcl-dev liboctomap-dev`, or compile FCL from source on other systems.
- Medium install friction due to compiled C++ bindings; requires pre-installed system libraries (libfcl-dev and liboctomap-dev on Ubuntu, or manual FCL compilation).
- Wheels are available for Python 3.10–3.13 on macOS, Linux, and Windows.
License · maintenance · safety
BSD (permissive) — BSD permissive license allows commercial and private use with minimal restrictions; suitable for most projects.
last release 2026-04-08 (128 days) · last repo commit 2026-04-08 · 272 stars
0 known vulnerabilities (OSV.dev, 2026-08-14) · 220,138 downloads/mo, #9,312 on PyPI
Alternatives
Verify before relying
pip install python-fcl
import fcl
import numpy as np
g1 = fcl.Box(1, 2, 3)
t1 = fcl.Transform()
o1 = fcl.CollisionObject(g1, t1)
g2 = fcl.Sphere(1.0)
t2 = fcl.Transform(np.array([2.0, 0.0, 0.0]))
o2 = fcl.CollisionObject(g2, t2)
request = fcl.CollisionRequest()
result = fcl.CollisionResult()
ret = fcl.collide(o1, o2, request, result)- Whether OcTree support requires additional runtime configuration beyond liboctomap-dev installation
- Performance characteristics for large-scale mesh collision queries or high-frequency distance checks
- Stability of the Alpha status (Development Status :: 3) and whether breaking changes are expected
What it is and what it does
Python-FCL is an unofficial Python interface to the Flexible Collision Library, a C++ library for geometric proximity queries. It wraps FCL's core algorithms to let you detect collisions between 3D shapes, compute minimum distances between objects, and check for collisions during motion. The package supports geometric primitives (boxes, spheres, cylinders, cones, capsules, ellipsoids, half-spaces, planes) and arbitrary triangle meshes via BVHModel or Convex wrappers, plus OcTree structures for spatial hierarchies.
You work with CollisionObject instances (a geometry plus a pose), set up request/response structures, and call query functions like collide(), distance(), or continuousCollide(). The library is commonly used in robotics, physics simulation, and motion planning where you need fast, accurate proximity checks. Installation requires pre-built system libraries (libfcl-dev and liboctomap-dev on Linux) or manual FCL compilation; wheels are provided for recent Python versions on major platforms.
Use it for
- Robotics motion planning: check for collisions between robot links and obstacles during path planning
- Physics simulation: compute contact points and distances for rigid body dynamics engines
- Continuous collision detection: detect whether moving objects collide during a time interval
- Mesh-based proximity queries: compute minimum distance between complex triangle meshes
- Spatial reasoning in autonomous systems: query geometric relationships for navigation and manipulation
Worth the install?
AI-flagged interpretation of the facts on this page. Verify before relying on it.
Yes, if you need collision detection and distance queries in Python and can satisfy the system library prerequisites.
The library is actively maintained, supports current Python versions (3.9+), carries no known vulnerabilities, and has a permissive BSD license. The main friction is the upfront system dependency installation; once that is done, the wheels install cleanly. Suitable for robotics, simulation, and computational geometry projects.
Install
python-fcl on PyPI
Before you install
Medium install friction due to compiled C++ bindings; requires pre-installed system libraries (libfcl-dev and liboctomap-dev on Ubuntu, or manual FCL compilation). Wheels are available for Python 3.10–3.13 on macOS, Linux, and Windows. Active maintenance with recent release (128 days ago).
Requires libfcl-dev and liboctomap-dev system libraries installed before pip install; on Ubuntu use `sudo apt-get install libfcl-dev liboctomap-dev`, or compile FCL from source on other systems.
License in practice
BSD permissive license allows commercial and private use with minimal restrictions; suitable for most projects.
Quickstart
pip install python-fcl
import fcl
import numpy as np
g1 = fcl.Box(1, 2, 3)
t1 = fcl.Transform()
o1 = fcl.CollisionObject(g1, t1)
g2 = fcl.Sphere(1.0)
t2 = fcl.Transform(np.array([2.0, 0.0, 0.0]))
o2 = fcl.CollisionObject(g2, t2)
request = fcl.CollisionRequest()
result = fcl.CollisionResult()
ret = fcl.collide(o1, o2, request, result)Verify before relying
- Whether OcTree support requires additional runtime configuration beyond liboctomap-dev installation
- Performance characteristics for large-scale mesh collision queries or high-frequency distance checks
- Stability of the Alpha status (Development Status :: 3) and whether breaking changes are expected
Package facts
| License | BSD permissive |
| Python support | Supports the current Python release >=3.9 |
| Install friction | Medium. Platform-specific wheel |
| Runtime dependencies | 2 packagesnumpyCython |
| Maintenance | Actively maintained 128 days since the last release |
| Last repo commit | |
| First released | |
| Downloads | 220,138 / month, #9,312 on PyPI 30-day window, as of 2026-08-14 |
| Known vulnerabilities | None known OSV.dev, checked 2026-08-14 |
| Classifiers | Development Status :: 3 - AlphaLicense :: OSI Approved :: BSD LicenseOperating System :: MacOSOperating System :: Microsoft :: WindowsOperating System :: POSIX :: LinuxProgramming Language :: Python :: 3Programming Language :: Python :: 3.10Programming Language :: Python :: 3.11Programming Language :: Python :: 3.12Programming Language :: Python :: 3.7Programming Language :: Python :: 3.8Programming Language :: Python :: 3.9Programming Language :: Python :: Implementation :: CPython |
Evidence: python_fcl-0.7.0.11-cp310-cp310-macosx_10_9_x86_64.whl; python_fcl-0.7.0.11-cp310-cp310-macosx_11_0_arm64.whl; python_fcl-0.7.0.11-cp310-cp310-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl; python_fcl-0.7.0.11-cp310-cp310-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl; python_fcl-0.7.0.11-cp310-cp310-win_amd64.whl; python_fcl-0.7.0.11-cp311-cp311-macosx_10_9_x86_64.whl; python_fcl-0.7.0.11-cp311-cp311-macosx_11_0_arm64.whl; python_fcl-0.7.0.11-cp311-cp311-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl; python_fcl-0.7.0.11-cp311-cp311-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl; python_fcl-0.7.0.11-cp311-cp311-win_amd64.whl; python_fcl-0.7.0.11-cp312-cp312-macosx_10_13_x86_64.whl; python_fcl-0.7.0.11-cp312-cp312-macosx_11_0_arm64.whl; python_fcl-0.7.0.11-cp312-cp312-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl; python_fcl-0.7.0.11-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl; python_fcl-0.7.0.11-cp312-cp312-win_amd64.whl; python_fcl-0.7.0.11-cp313-cp313-macosx_10_13_x86_64.whl; python_fcl-0.7.0.11-cp313-cp313-macosx_11_0_arm64.whl; python_fcl-0.7.0.11-cp313-cp313-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl; python_fcl-0.7.0.11-cp313-cp313-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl; python_fcl-0.7.0.11-cp313-cp313-win_amd64.whl
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