Description:
pybotics 3.1.2
Pybotics
The Python Toolbox for Robotics
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Contents
Pybotics
Contents
Overview
Usage
Documentation
Installation
Applications & Examples
Featured In
Citing
Development and Community Guidelines
Local Development
Docker Development
Commits
Dependency Management
Submit an Issue
Contributing
Testing
GitHub Actions
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
Use poetry to install the dev virtual environment:
poetry install
Docker Development
Docker is a great tool to test the package in an isolated environment
It is especially useful for debugging issues between python versions
# launch container attached to current directory
docker run -v $(pwd):/$(basename $(pwd)) -w /$(basename $(pwd)) -it python:3 bash
# install deps
pip install poetry
poetry install
# run tests
make test
Commits
The repo abides by SemVer, semantic-release, and Angular commit message syntax
It is highly recommended to use the commitizen CLI
See commit examples below:
Change
Commit Type
Bumped dependency version
build
Bumped Python requirement
feat
Dependency Management
# refresh lock file
poetry lock --no-update
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 lint
# run all python tests
make test
GitHub Actions
This repo uses semantic-releases to generate releases and release notes automatically from commits
A PERSONAL_TOKEN Actions secret from a Personal Token with a public_repo scope is needed for CI releases
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License
For personal and professional use. You cannot resell or redistribute these repositories in their original state.
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