robotics-toolbox-python

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.

lmcallme

install virtualenv, virtualenvwrapper:

$ 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

setup

make env

$ mkvirtualenv robot_toolbox

use env

$ workon robot_toolbox

install matplotlib, numpy and jupyter

$ pip install -r requirements.txt

install scipy

on linux:

$ pip install scipy==0.18.1

on windows

frist download whl file then:

$ pip install xxx.whl

use jupyter

$ jupyter notebook