petercorke/robotics-toolbox-python

Robotics Toolbox for Python

What it solves

This project provides a comprehensive, high-productivity framework for robotics research and education. It simplifies the complex mathematical tasks involved in modeling, simulating, and controlling robots, allowing users to focus on algorithm development rather than low-level implementation details.

How it works

The toolbox leverages the Python scientific stack (NumPy, SciPy, Matplotlib) to perform fast kinematic and dynamic calculations. It supports serial-link manipulators via Denavit-Hartenberg parameters or URDF file imports, and includes a wide range of mobile robot algorithms, such as path planning (D*, RRT, PRM) and localization (EKF, particle filters). It integrates with the Spatial Maths Toolbox for handling 3D coordinate transformations and includes a browser-based 3D visualizer called Swift.

Who it’s for

It is designed for robotics researchers, students, and educators who need a mature, well-documented environment for prototyping and teaching robotics theory. It serves as a Python-based successor to the long-standing Robotics Toolbox for MATLAB.

Highlights

  • Includes over 50 pre-defined models for contemporary and classical robots.
  • Supports high-speed forward and inverse kinematics calculations.
  • Provides built-in support for mobile robot motion models, localization, and mapping.
  • Offers a browser-based 3D simulation environment (Swift) for real-time visualization.
  • Compatible with Jupyter Notebooks for interactive learning and documentation.

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