DrawZeroPoint / pybotics

The Python Toolbox for Robotics

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

• Basic Usage
• Kinematics
• Calibration
• Trajectory and Path Planning
• Machine Learning
• Dynamics

Featured In

• Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling
• PyCon Canada 2017
  • Talk Photos
  • Slides
• Montreal-Python 2017

Citing

• Please cite the following articles if you use pybotics in your research:

Nadeau, (2019). Pybotics: Python Toolbox for Robotics. Journal of Open Source Software, 4(41), 1738, https://doi.org/10.21105/joss.01738

@article{nadeau2019pybotics,
  doi = {10.21105/joss.01738},
  url = {https://doi.org/10.21105/joss.01738},
  year = {2019},
  month = sep,
  publisher = {The Open Journal},
  volume = {4},
  number = {41},
  pages = {1738},
  author = {Nicholas Nadeau},
  title = {Pybotics: Python Toolbox for Robotics},
  journal = {Journal of Open Source Software}
}

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}, 
  volume={8}, 
  ISSN={2218-6581}, 
  url={http://dx.doi.org/10.3390/robotics8020033}, 
  DOI={10.3390/robotics8020033}, 
  number={2}, 
  journal={Robotics}, 
  publisher={MDPI AG}, 
  author={Nadeau, Nicholas A. and Bonev, Ilian A. and Joubair, Ahmed}, 
  year={2019}, 
  month={Apr}, 
  pages={33}
}

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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