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# robotics-toolbox-python
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Robotics Toolbox for Python
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This is an old first attempt at creating an open Python version of the venerable Robotics Toolbox for MATLAB.
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The MATLAB toolbox has support for:
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* mobile robots
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- vehicle kinematic models and controllers
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- path planners (distance xform, D*, PRM, lattice, RRT)
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- dead-reckoning, localization, mapping, SLAM
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* robot manipulator arms
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- kinematics forward and inverse
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- Jacobians
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- rigid-body dynamics
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* common datastructures for
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- SO2/SE2 planar rotations and rigid-body motion
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- SO3/SE3 3D and rigid-body motion
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- quaternions
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- twists, Plucker lines
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With matplotlib, scipy, numpy and jupyter it should be possible to create a very effective open robotics environment.

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