Robotics Toolbox for Python

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.