Welcome to Robopy
ROBOPY is a python implementation of The Robotics Toolbox (RTB) (The brainchild of Peter Corke) for Matlab. The toolbox provides a range of functions that are useful in the study and simulation of classical arm-type robotics, including kinematics. Via the porting of the toolbox we hope to create greater access to the toolbox without the need for pricy software subscriptions.
Getting Started
A guide to getting started with the ROBOPY toolbox
Downloading the toolbox
Robopy is currently only availible for download through the github repositry and Python Package Index(PyPi). The toolbox is available for download at the following locations:
Github
A complete download of ROBOPY including docs and all compelted functionality is availible by either cloning or downloading a zip via the github.
ROBOPY GITHUBInstalling the toolbox
Installing the robopy requires the following software:
Requirements
- VTK
- Python 3.6
- Numpy
Using the Toolbox
Verify you ROBOPY install following these guides to plotting your first model and creating a rotation matrix.
1. Import Pose
import base.pose as pose
2. Create a SO3 pose using the random constructor
x = pose.SO3
3. Display the object
x
4. Visualise SO3
x.plot()
1. Import tranforms
import base.transforms as trans
2. Create rotation matrix around x
rot = trans.rotx()
3. Display the object
x
Gallery
Documentation
Documentation for the ROBOPY toolbox can be found in the docs folder within the toolbox
Alternativaly if you are reading this from within the docs folder
click here to view the documentation.
In addition to our documentation on ROBOPY, an abundance of resources are availible for the original Robitcs toolbox for matlab. Most of these can be found on Peter Corkes Peter Corkes Website The book Robotics, Vision & Control, second edition (Corke, 2017) is a detailed introduction to mobile robotics, navigation, localization; and arm robot kinematics, Jacobians and dynamics illustrated using the Robotics Toolbox for MATLAB. While this focusses on the MATLAB toolbox the book is still extremely usefull in understand ROBOPY.
Support
Community pages have been setup to aid in the solving of common issues:
Facebook Community
Slack Disscussion
Besides the commiuity groups there is no support! This software is made freely availible in the hope
that you find it useful in solving whatever problems you have to hand. We are very happy to accept contributions
for inclusion in future versions of the toolbox, and you will be suitably acknowledged.