Package: pybotics
PyboticsThe Python Toolbox for RoboticsExplore the docsView demos and examplesReport a bugRequest a featureItemBadgesRepoReleasesCompatibilityWorkflowsDocumentationCitationsLicenseSocialContentsPyboticsContentsOverviewUsageDocumentationInstallationApplications & ExamplesFeatured InCitingDevelopment and Community GuidelinesLocal DevelopmentDocker DevelopmentCommitsDependency ManagementSubmit an IssueContributingTestingGitHub ActionsOverviewPyboticsis 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 theModified Denavit–Hartenberg parameters convention.UsageDocumentationPlease visithttps://pybotics.readthedocs.io/Installation# python3 is mapped to pip or inside a venvpipinstallpybotics# python3-pippip3installpybotics# https://github.com/pypa/pipenvpipenvinstallpybotics# https://github.com/sdispater/poetrypoetryaddpyboticsApplications & ExamplesBasic UsageKinematicsCalibrationTrajectory and Path PlanningMachine LearningDynamicsFeatured InImpedance Control Self-Calibration of a Collaborative Robot Using Kinematic CouplingPyCon Canada 2017Talk PhotosSlidesMontreal-Python 2017CitingPlease cite the following articles if you usepyboticsin 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 GuidelinesLocal DevelopmentUsepoetryto install the dev virtual environment:poetryinstallDocker DevelopmentDocker is a great tool to test the package in an isolated environmentIt is especially useful for debugging issues between python versions# launch container attached to current directorydockerrun-v$(pwd):/$(basename$(pwd))-w/$(basename$(pwd))-itpython:3bash# install depspipinstallpoetry
poetryinstall# run testsmaketestCommitsThe repo abides bySemVer,semantic-release, andAngular commit message syntaxIt is highly recommended to use thecommitizenCLISee commit examples below:ChangeCommit TypeBumped dependency versionbuildBumped Python requirementfeatDependency Management# refresh lock filepoetrylock--no-updateSubmit an IssueNavigate to the repository'sissue tabSearch for related existing issuesIf necessary, create a new issue using the provided templatesContributingPlease seeCONTRIBUTING.mdand theCode of Conductfor how to contribute to the projectTestingPlease review theMakefilefor an overview of all available testsThe most important tests andmakecommands are highlighted below:# auto-format codemakeformat# perform all static testsmakelint# run all python testsmaketestGitHub ActionsThis repo usessemantic-releasesto generate releases and release notes automatically from commitsAPERSONAL_TOKENActions secretfrom aPersonal Tokenwith apublic_reposcopeis needed for CI releasesIcons made byPixel perfectfromwww.flaticon.com