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Robotics Toolbox for Python

Python library for robot kinematics, dynamics, and trajectory planning with a familiar MATLAB-like API.

@ai-supply
Installs43k
⟳ upstream v1.4.2 · updated 16d ago
↗ Source repository
← More Robotics & ControlRobotics & Control leaderboard →How we grade security →Source ↗
✓ Grade A · 100/100 · SafeSecurity assessment
✓No compromise signals27capabilities surfaced10of 20 OWASP controls clear
External endpoints declaredExternal endpoints declaredBroad capability surfaceExternal endpoints declared
scanned 12d ago·osv · gitleaks · opengrep · picklescan + heuristics·full breakdown in the Security tab ↓

Robotics Toolbox for Python

Robotics Toolbox for Python by Peter Corke reimagines the classic MATLAB Robotics Toolbox in Python. It provides tools for modelling, simulating, and controlling serial-link robot arms and mobile robots, with support for DH parameters, URDF models, and modern spatial-math conventions.

Key Features

  • Forward and inverse kinematics (analytic + numeric solvers via ikpy / spatialmath)
  • Jacobians, manipulability, condition number, and null-space calculations
  • Trajectory generation: joint-space and Cartesian-space trapezoidal & quintic profiles
  • Built-in models for 30+ robots: Panda, UR5, Jaco, DHRobot, Swift simulator
  • Tight integration with spatialmath-python and roboticstoolbox-python

Quick Start

pip install roboticstoolbox-python

import roboticstoolbox as rtb

panda = rtb.models.Panda()
print(panda)

# Forward kinematics
T = panda.fkine(panda.qr)
print(T)

# Inverse kinematics
q, success, *_ = panda.ik_lm_chan(T)
print(q, success)

npx ai-supply add robotics-toolbox-python

Curated mirror of the open-source Robotics Toolbox for Python (MIT). Get it from the source.

Rating rank
#1
of 10 in Robotics & Control
Install rank
#7
of 10 in Robotics & Control
Security score
100/100 · A
safe
Security rank
#1
of 10 in Robotics & Control
Installs
43k
cat avg 59k
This listing vs category average
Installs
this
cat avg
Security (of 100)
this
cat avg
Adoption trend
See the Robotics & Control leaderboard →
✓ Security: Safe · 100100/100 · grade Ascanned 12d ago
✓ no compromise signals27 risk-surface · 5/20 OWASP controls flagged

Compromise signals — malicious or tampered code (leaked secrets, backdoors, a dropped executable) — reduce the score, and known dependency CVEs carry a bounded penalty (they warrant review but never QUARANTINE — update the dependency to clear). Other dangerous-by-capability traits are risk surface, expected for some capabilities. Every finding is mapped to its OWASP control below.

What this capability can do · med confidence (static)
⚑ filesystem⚑ shell⚑ network
egress → pypi.org, www.conventionalcommits.org, img.shields.io, petercorke.github.io, static.pepy.tech, pepy.tech, codecov.io, qcr.github.io +21
30 scripts

Findings mapped to the OWASP Top 10 for LLM Applications (2025) and the OWASP Machine Learning Security Top 10. Expand any flagged control for the exact findings — compromise reduces the score; expected/risk-surface do not, except a known CVE, which carries a small bounded penalty (high/critical → Review).

OWASP Top 10 for LLM Applications
⚠LLM05Improper Output Handlingmedium
Code that pipes model/user output into shell, eval, SQL or paths unsafely.
•Suspicious code patterns — dynamic code execution · petercorke-robotics-toolbox-python-2d24e0d/docs/notebooks/ets.ipynb (CWE-95)expected
•Suspicious code patterns — OS command execution · petercorke-robotics-toolbox-python-2d24e0d/examples/_cpu_info.py (CWE-78)expected
⚠LLM06Excessive Agencymedium
Over-broad tool/permission surface or unrestricted egress.
•External endpoints declared — 2 distinct host(s) · petercorke-robotics-toolbox-python-2d24e0d/.github/CONTRIBUTING.mdrisk surface
•External endpoints declared — 1 distinct host(s) · petercorke-robotics-toolbox-python-2d24e0d/.github/ISSUE_TEMPLATE/config.ymlrisk surface
•Broad capability surface — 3 high-impact capability categories referenced — verify least-privilege · petercorke-robotics-toolbox-python-2d24e0d/.github/workflows/ci.yml (CWE-272)risk surface
•External endpoints declared — 22 distinct host(s) · petercorke-robotics-toolbox-python-2d24e0d/README.mdrisk surface
•External endpoints declared — 3 distinct host(s) · petercorke-robotics-toolbox-python-2d24e0d/docs/notebooks/branched-robot.ipynbrisk surface
•External endpoints declared — 10 distinct host(s) · petercorke-robotics-toolbox-python-2d24e0d/docs/source/conf.pyrisk surface
•External endpoints declared — 6 distinct host(s) · petercorke-robotics-toolbox-python-2d24e0d/docs/source/refs.bibrisk surface
⚠LLM07System Prompt Leakagemedium
Secrets, internal hosts or proprietary logic exposed in shipped prompts.
•Internal host / private infrastructure reference — shipped content references a private IP range or internal-only host · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/armer_xarm/launch/robot_bringup.launch (CWE-200)expected
⚠LLM10Unbounded Consumptionmedium
Unbounded loops/recursion causing DoS or runaway cost.
Enforced at runtime by the gateway (rate limits + spend caps + size caps); static check flags unbounded loops.
•Potentially unbounded loop — an infinite loop (while True / while(1) / for(;;)) may cause runaway consumption · petercorke-robotics-toolbox-python-2d24e0d/examples/mexican-wave.py (CWE-835)risk surface
§LLM09MisinformationGovernance
Artifacts designed to produce false/deceptive output.
Detectable only by runtime behavioral evaluation; addressed via responsible-use attestation.
✓LLM01Prompt InjectionPassed
✓LLM02Sensitive Information DisclosurePassed
✓LLM03Supply ChainPassed
✓LLM04Data and Model PoisoningPassed
Backdoors/poisoning in training data or serialized models.
Behavioral poisoning needs model execution; static check covers unsafe serialization + dataset skew only.
✓LLM08Vector and Embedding WeaknessesPassed
PII or plaintext source leakage in embedding/vector exports.
Embedding inversion/poisoning is largely runtime; static check covers PII in vector exports.
OWASP Machine Learning Security Top 10
⚠ML09Output Integritymedium
Middleware tampering with model outputs in transit.
Gateway enforces TLS + response integrity; static check flags output-rewriting code.
•Suspicious code patterns — dynamic code execution · petercorke-robotics-toolbox-python-2d24e0d/docs/notebooks/ets.ipynb (CWE-95)expected
•Suspicious code patterns — OS command execution · petercorke-robotics-toolbox-python-2d24e0d/examples/_cpu_info.py (CWE-78)expected
§ML01Input Manipulation (Adversarial)Governance
Models vulnerable to adversarial perturbations.
Requires runtime robustness evaluation; addressed via publisher robustness attestation.
§ML03Model InversionGovernance
Training data reconstructable from a model's outputs.
Runtime/evaluation property; addressed via model-card data-provenance + DP attestation.
§ML04Membership InferenceGovernance
Determining whether a record was in the training set.
Runtime/evaluation property; addressed via overfitting disclosure + DP attestation.
§ML08Model SkewingGovernance
Models trained on skewed data producing biased output.
Requires fairness evaluation; addressed via model-card bias/limitations disclosure.
✓ML02Data PoisoningPassed
Poisoned training datasets with triggers or anomalous distributions.
Static check covers trigger phrasing, PII and label skew; full poisoning detection is runtime.
✓ML05Model TheftPassed
Unlicensed re-distribution / license-incompatible derivatives.
Static check verifies license declaration; extraction throttling is runtime.
✓ML06AI Supply ChainPassed
✓ML07Transfer Learning AttackPassed
Backdoored base models / LoRA adapters propagating to derivatives.
Backdoor detection needs behavioral probing; static check covers unsafe serialization + provenance.
✓ML10Model Poisoning (Weights)Passed
Tampered model weight files; integrity must be verifiable.
Static check enforces safe formats + records a content hash for downstream verification.
Other findings (34) · hygiene / uncategorized
•Unrecognized file type — '.gitattributes' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/.gitattributesrisk surface
•Unrecognized file type — '.?' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/.github/Makefilerisk surface
•Unrecognized file type — '.gitignore' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/.gitignorerisk surface
•Suspicious network references — URL shortener (90 URLs) · petercorke-robotics-toolbox-python-2d24e0d/README.mdexpected
•Unrecognized file type — '.ezdraw' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/docs/figs/link-frames.ezdrawrisk surface
•Suspicious network references — URL shortener (1 URLs) · petercorke-robotics-toolbox-python-2d24e0d/docs/source/IK/ik.rstexpected
•Unrecognized file type — '.bib' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/docs/source/refs.bibrisk surface
•Unrecognized file type — '.stl' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/armer_xarm/data/xacro/meshes/xarm6/visual/link6.stlrisk surface
•Opaque binary content — non-text payload not statically analyzable · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/armer_xarm/data/xacro/meshes/xarm6/visual/link6.stlrisk surface
•Unrecognized file type — '.bak' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/armer_xarm/data/xacro/robots/xarm6/xarm6.urdf.xacro.bakrisk surface
•Unrecognized file type — '.xacro' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/armer_xarm/data/xacro/robots/xarm6/xarm6.xacrorisk surface
•Unrecognized file type — '.launch' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/armer_xarm/launch/load_xarm6.launchrisk surface
•Unrecognized file type — '.toro' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/data/killian-small.tororisk surface
•Unrecognized file type — '.g2o' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/data/pg1.g2orisk surface
•Very high entropy — 7.35 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/data/spitfire_assy-gear_up.stlrisk surface
•Unrecognized file type — '.tex' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/data/test-mesh/walle2.texrisk surface
•Unrecognized file type — '.mat' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/data/test.matrisk surface
•Unrecognized file type — '.urdf' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/data/test.urdfrisk surface
•Very high entropy — 7.22 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/meshes/FRANKA-EMIKA/Panda/link0.stlrisk surface
•Very high entropy — 7.25 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/meshes/FRANKA-EMIKA/Panda/link1_original.stlrisk surface
•Very high entropy — 7.23 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/meshes/FRANKA-EMIKA/Panda/link3.stlrisk surface
•Very high entropy — 7.28 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/meshes/FRANKA-EMIKA/Panda/link4.stlrisk surface
•Very high entropy — 7.26 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/meshes/FRANKA-EMIKA/Panda/link5.stlrisk surface
•Very high entropy — 7.27 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/meshes/FRANKA-EMIKA/Panda/link6.stlrisk surface
•Unrecognized file type — '.mtl' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/meshes/Puma560-obj/ORIGINAL/pieza2.mtlrisk surface
•Unrecognized file type — '.obj' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/meshes/Puma560-obj/ORIGINAL/pieza2.objrisk surface
•Very high entropy — 7.30 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/xacro/kuka_description/kuka_kr10/meshes/kr10r1100sixx/collision/link_1.stlrisk surface
•Very high entropy — 7.33 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/xacro/kuka_description/kuka_kr10/meshes/kr10r1100sixx/collision/link_6.stlrisk surface
•Very high entropy — 7.29 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/xacro/kuka_description/kuka_kr120/meshes/kr120r2500pro/collision/link_2.stlrisk surface
•Unrecognized file type — '.dae' is not on the allowlist · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/xacro/kuka_description/kuka_kr120/meshes/kr120r2500pro/visual/base_link.daerisk surface
•Very high entropy — 7.24 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/xacro/kuka_description/kuka_kr210/meshes/kr210l150/collision/link_2.stlrisk surface
•Very high entropy — 7.31 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/xacro/kuka_description/kuka_lbr_iiwa/meshes/lbr_iiwa_14_r820/collision/link_1.stlrisk surface
•Very high entropy — 7.34 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/xacro/kuka_description/kuka_lbr_iiwa/meshes/lbr_iiwa_14_r820/collision/link_2.stlrisk surface
•Very high entropy — 7.32 bits/byte suggests packed or encrypted content · petercorke-robotics-toolbox-python-2d24e0d/rtb-data/rtbdata/xacro/kuka_description/kuka_lbr_iiwa/meshes/lbr_iiwa_14_r820/collision/link_6.stlrisk surface
✔ verified source · pinned petercorke-robotics-toolbox-python-2d24e0d
Check against a policy

The same gate an agent runs before installing (POST /api/v1/trust/robotics-toolbox-python/check). Click a policy:

Consume Robotics Toolbox for Python programmatically. Authenticate with an API key or session — see Authorize an agent.

# Agents: CHECK BEFORE YOU INSTALL (no auth) — score, grade, level, capability manifest
curl https://ai-supply.store/api/v1/trust/robotics-toolbox-python

# Gate against your org policy (returns { pass, violations })
curl -X POST https://ai-supply.store/api/v1/trust/robotics-toolbox-python/check \
  -H "Content-Type: application/json" \
  -d '{"minGrade":"B","denyPermissions":["shell"],"denyUnknownEgress":true}'

# CLI
npx ai-supply add robotics-toolbox-python

# REST (install → download)
curl -X POST https://ai-supply.store/api/v1/listings/robotics-toolbox-python/install \
  -H "Authorization: Bearer $AIM_KEY"

# MCP tool
install_listing({ "slug": "robotics-toolbox-python" })
OpenAPI spec →
vlatest
✓ Security: Safe · 1003mo ago

Curated mirror — latest upstream source. See the repository for tagged releases.

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