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Software

OpTaS

From github.com/cmower/optas (opens in a new tab)

  • Robot arms and industry
  • Library
  • Apache-2.0

OpTaS is a Python library for specifying robot tasks as optimization problems, used for trajectory optimization and model predictive control. It builds on the ICRA 2023 paper.

Open on GitHub (opens in a new tab)

Facts

GitHub stars
149read on 6 Nov 2026
Last update
1 Oct 2026Newest commit on master
Maintenance
Activea commit in the last 90 days
Difficulty
Advanced

Checked on GitHub on 6 Nov 2026.

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) at commit 24b413b (opens in a new tab), on 22 Oct 2026. A license text Robotheca's reader does not know: a person at Robotheca set it on 9 Nov 2026.

Commercial use
Yes

Overview

What it does: Robotheca's summary

  • Builds optimization problems for robot motion, such as inverse kinematics with an end-effector goal, joint limits and a nominal-configuration cost.
  • Loads robot models from URDF files and extracts joint limits and link positions from them.
  • Passes the built problem to solvers such as CasADi with ipopt, or SciPy minimize with SLSQP.
  • Includes a visualizer for drawing robots and goal positions, and examples for dual-arm planning, MPC and trajectory optimization.
  • Can be installed from PyPI as pyoptas or from source; supports Ubuntu, Windows and Mac OS with Python 3.7 to 3.9 as listed.

Written by Robotheca from the project's README (opens in a new tab) at commit 24b413b, not by its creator.

The README

Read the README on GitHub (opens in a new tab)

Files and versions

Facts read at commit 24b413b

Robotheca never hosts the code: each link goes to the creator's own page.

Use it

How to install it, in the creator's words: The project's website (opens in a new tab)

Robotheca doesn't review code. Read it before running it.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.