A Python implementation of the Robotics Toolbox for MATLAB
Robotics Toolbox for Python.
Synopsis
This toolbox brings robotics-specific functionality to Python, and leverages
Python’s advantages of portability, ubiquity and support, and the capability of
the open-source ecosystem for linear algebra (numpy, scipy), graphics
(matplotlib, three.js, WebGL), interactive development (jupyter, jupyterlab,
mybinder.org), and documentation (sphinx).
The Toolbox provides tools for representing the kinematics and dynamics of
serial-link manipulators – you can easily create your own in Denavit-Hartenberg
form, import a URDF file, or use over 30 supplied models for well-known
contemporary robots from Franka-Emika, Kinova, Universal Robotics, Rethink as
well as classical robots such as the Puma 560 and the Stanford arm.
The toolbox will also support mobile robots with functions for robot motion models
(unicycle, bicycle), path planning algorithms (bug, distance transform, D*,
PRM), kinodynamic planning (lattice, RRT), localization (EKF, particle filter),
map building (EKF) and simultaneous localization