ramonidea / robotics-toolbox-python

Robotics Toolbox for Python

robotics-toolbox-python

Robotics Toolbox for Python

This is an old first attempt at creating an open Python version of the venerable Robotics Toolbox for MATLAB.
The MATLAB toolbox has support for:

• mobile robots

  • vehicle kinematic models and controllers
  • path planners (distance xform, D*, PRM, lattice, RRT)
  • dead-reckoning, localization, mapping, SLAM

• robot manipulator arms

  • kinematics forward and inverse
  • Jacobians
  • rigid-body dynamics

• common datastructures for

  • SO2/SE2 planar rotations and rigid-body motion
  • SO3/SE3 3D and rigid-body motion
  • quaternions
  • twists, Plucker lines

With matplotlib, scipy, numpy and jupyter it should be possible to create a very effective open robotics environment.