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.
$ pip install virtualenv
$ pip install virtualenvwrapper # linux
$ pip install virtualenvwrapper-win # windows
when on Linux, put into ~/.bashrc:
export WORKON_HOME=$HOME/.virtualenvs
export PROJECT_HOME=$HOME/Devel
export VIRTUALENVWRAPPER_SCRIPT=/usr/local/bin/virtualenvwrapper.sh
source /usr/local/bin/virtualenvwrapper_lazy.sh$ mkvirtualenv robot_toolbox$ workon robot_toolbox$ pip install -r requirements.txt$ pip install scipy==0.18.1frist download whl file then:
$ pip install xxx.whl$ jupyter notebook