Python Toolbox for Robotics
Project description
pybotics
The Python Toolbox for Robotics
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Overview
Pybotics
is an open-source Python toolbox for robot kinematics and calibration.
It was designed to provide a simple, clear, and concise interface to quickly simulate and evaluate common robot concepts, such as kinematics, dynamics, trajectory generations, and calibration.
The toolbox is specifically designed for use with the Modified Denavit–Hartenberg parameters convention.
Usage
Documentation
- Please visit https://pybotics.readthedocs.io/
Installation
# python3 is mapped to pip or inside a venv
pip install pybotics
# python3-pip
pip3 install pybotics
# https://github.com/pypa/pipenv
pipenv install pybotics
# https://github.com/sdispater/poetry
poetry add pybotics
Applications & Examples
Featured In
- Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling
- PyCon Canada 2017
- Montreal-Python 2017
Citing
- Please cite the following articles if you use
pybotics
in your research:
Nadeau, Nicholas A., Ilian A. Bonev, and Ahmed Joubair. "Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling." Robotics 8.2 (2019): 33.
@article{nadeau2019impedance,
title={Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling},
author={Nadeau, Nicholas A and Bonev, Ilian A and Joubair, Ahmed},
journal={Robotics},
volume={8},
number={2},
pages={33},
year={2019},
publisher={Multidisciplinary Digital Publishing Institute}
}
Development and Community Guidelines
Local Development
- Install the dev virtual environment:
poetry install
Submit an Issue
- Navigate to the repository's issue tab
- Search for related existing issues
- If necessary, create a new issue using the provided templates
Contributing
- Please see
CONTRIBUTING.md
and the Code of Conduct for how to contribute to the project
Testing
- Please review the
Makefile
for an overview of all available tests - The most important tests and
make
commands are highlighted below:
# auto-format code
make format
# perform all static tests
make check
# run all python tests
make test
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