{"id":13718811,"url":"https://github.com/engnadeau/pybotics","last_synced_at":"2026-01-10T03:58:33.677Z","repository":{"id":11114068,"uuid":"66797360","full_name":"engnadeau/pybotics","owner":"engnadeau","description":"The Python Toolbox for Robotics","archived":true,"fork":false,"pushed_at":"2024-10-08T03:04:44.000Z","size":6377,"stargazers_count":343,"open_issues_count":33,"forks_count":62,"subscribers_count":15,"default_branch":"master","last_synced_at":"2025-02-12T07:49:35.400Z","etag":null,"topics":["calibration","doi","dynamics","hacktoberfest","impedance-control","inverse-kinematics","kinematics","math","mathematics","numpy","pypi","python","python-toolbox","research","robot","robotics","scipy","trajectory"],"latest_commit_sha":null,"homepage":"https://pybotics.readthedocs.io/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/engnadeau.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":".github/CONTRIBUTING.md","funding":".github/FUNDING.yml","license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":"CODEOWNERS","security":"SECURITY.md","support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null},"funding":{"github":["engnadeau"],"ko_fi":"engnadeau"}},"created_at":"2016-08-29T00:07:34.000Z","updated_at":"2025-01-10T18:29:01.000Z","dependencies_parsed_at":"2023-09-24T06:32:08.506Z","dependency_job_id":"416e3e90-0099-4ac2-8ec5-e94d24871048","html_url":"https://github.com/engnadeau/pybotics","commit_stats":{"total_commits":1411,"total_committers":13,"mean_commits":"108.53846153846153","dds":0.6761162296243799,"last_synced_commit":"ab8e188a387447f9ce47aedcfacad487f4d0135a"},"previous_names":["nnadeau/pybotics"],"tags_count":36,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engnadeau%2Fpybotics","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engnadeau%2Fpybotics/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engnadeau%2Fpybotics/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engnadeau%2Fpybotics/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/engnadeau","download_url":"https://codeload.github.com/engnadeau/pybotics/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":239845240,"owners_count":19706578,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["calibration","doi","dynamics","hacktoberfest","impedance-control","inverse-kinematics","kinematics","math","mathematics","numpy","pypi","python","python-toolbox","research","robot","robotics","scipy","trajectory"],"created_at":"2024-08-03T01:00:38.142Z","updated_at":"2026-01-10T03:58:33.639Z","avatar_url":"https://github.com/engnadeau.png","language":"Python","readme":"# Pybotics\n\n![Robot arm logo](media/python-robot.png)\n\nThe Python Toolbox for Robotics\n\n- [Explore the docs](https://pybotics.readthedocs.io)\n- [View demos and examples](https://github.com/nnadeau/pybotics/tree/master/examples)\n- [Report a bug](https://github.com/nnadeau/pybotics/issues)\n- [Request a feature](https://github.com/nnadeau/pybotics/issues)\n\n| Item | Badges |\n| ------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |\n| Repo | [![GitHub issues](https://img.shields.io/github/issues/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/issues) [![GitHub forks](https://img.shields.io/github/forks/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/network) [![GitHub stars](https://img.shields.io/github/stars/nnadeau/pybotics.svg)](https://github.com/nnadeau/pybotics/stargazers) ![GitHub repo size](https://img.shields.io/github/repo-size/engnadeau/pybotics) |\n| Releases | [![GitHub tag](https://img.shields.io/github/tag/nnadeau/pybotics.svg?maxAge=2592000?style=flat-square)](https://github.com/nnadeau/pybotics/releases) [![PyPI Version](https://img.shields.io/pypi/v/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Wheel](https://img.shields.io/pypi/wheel/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Format](https://img.shields.io/pypi/format/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![semantic-release](https://img.shields.io/badge/%20%20%F0%9F%93%A6%F0%9F%9A%80-semantic--release-e10079.svg)](https://github.com/semantic-release/semantic-release) [![semantic-release: angular](https://img.shields.io/badge/semantic--release-angular-e10079?logo=semantic-release)](https://github.com/semantic-release/semantic-release) ![PyPI - Downloads](https://img.shields.io/pypi/dm/pybotics) |\n| Compatibility | [![PyPI Pythons](https://img.shields.io/pypi/pyversions/pybotics.svg)](https://pypi.python.org/pypi/pybotics) [![PyPI Implementation](https://img.shields.io/pypi/implementation/pybotics.svg)](https://pypi.python.org/pypi/pybotics) |\n| Workflows | [![Test](https://github.com/nnadeau/pybotics/workflows/Test/badge.svg)](https://github.com/nnadeau/pybotics/actions) [![Release](https://github.com/nnadeau/pybotics/workflows/Release/badge.svg)](https://github.com/nnadeau/pybotics/actions) [![Publish](https://github.com/nnadeau/pybotics/workflows/Publish/badge.svg)](https://github.com/nnadeau/pybotics/actions) |\n| Documentation | [![Documentation Status](https://readthedocs.org/projects/pybotics/badge/?version=latest)](https://pybotics.readthedocs.io/en/latest/?badge=latest) |\n| Citations | [![DOI](https://joss.theoj.org/papers/10.21105/joss.01738/status.svg)](https://doi.org/10.21105/joss.01738) [![DOI](https://zenodo.org/badge/66797360.svg)](https://zenodo.org/badge/latestdoi/66797360) |\n| License | [![PyPI License](https://img.shields.io/pypi/l/pybotics.svg)](https://pypi.python.org/pypi/pybotics) |\n| Social | ![Twitter Follow](https://img.shields.io/twitter/follow/engnadeau?style=social) [![Twitter](https://img.shields.io/twitter/url?style=social\u0026url=https%3A%2F%2Fgithub.com%2Fnnadeau%2Fpybotics)](https://twitter.com/intent/tweet?text=Wow:\u0026url=https%3A%2F%2Fgithub.com%2Fnnadeau%2Fpybotics) |\n\n## Contents\n\n- [Pybotics](#pybotics)\n - [Contents](#contents)\n - [Overview](#overview)\n - [Usage](#usage)\n - [Documentation](#documentation)\n - [Installation](#installation)\n - [Applications \u0026 Examples](#applications--examples)\n - [Featured In](#featured-in)\n - [Citing](#citing)\n - [Development and Community Guidelines](#development-and-community-guidelines)\n - [Local Development](#local-development)\n - [Docker Development](#docker-development)\n - [Commits](#commits)\n - [Dependency Management](#dependency-management)\n - [Submit an Issue](#submit-an-issue)\n - [Contributing](#contributing)\n - [Testing](#testing)\n - [GitHub Actions](#github-actions)\n\n## Overview\n\n`Pybotics` is an open-source Python toolbox for robot kinematics and calibration.\nIt 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.\nThe toolbox is specifically designed for use with the [Modified Denavit–Hartenberg parameters convention](https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Modified_DH_parameters).\n\n## Usage\n\n### Documentation\n\nPlease visit https://pybotics.readthedocs.io/\n\n### Installation\n\n```bash\n# python3 is mapped to pip or inside a venv\npip install pybotics\n\n# python3-pip\npip3 install pybotics\n\n# https://github.com/pypa/pipenv\npipenv install pybotics\n\n# https://github.com/sdispater/poetry\npoetry add pybotics\n```\n\n### Applications \u0026 Examples\n\n- [Basic Usage](examples/basic_usage.py)\n- [Kinematics](examples/kinematics.ipynb)\n- [Calibration](examples/calibration.ipynb)\n- [Trajectory and Path Planning](examples/trajectory_generation.ipynb)\n- [Machine Learning](examples/machine_learning.ipynb)\n- [Dynamics](examples/dynamics.ipynb)\n\n## Featured In\n\n- [Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling](https://www.mdpi.com/2218-6581/8/2/33/htm)\n- [PyCon Canada 2017](https://2017.pycon.ca/schedule/53/)\n - [Talk Photos](https://500px.com/nicholasnadeau/galleries/pycon-canada-2017)\n - [Slides](https://github.com/nnadeau/pycon-canada-2017)\n- [Montreal-Python 2017](https://www.youtube.com/watch?v=wgKoGA69YXQ)\n\n## Citing\n\nPlease cite the following articles if you use `pybotics` in your research:\n\n\u003e Nadeau, (2019). Pybotics: Python Toolbox for Robotics. Journal of Open Source Software, 4(41), 1738, https://doi.org/10.21105/joss.01738\n\n```\n@article{nadeau2019pybotics,\n doi = {10.21105/joss.01738},\n url = {https://doi.org/10.21105/joss.01738},\n year = {2019},\n month = sep,\n publisher = {The Open Journal},\n volume = {4},\n number = {41},\n pages = {1738},\n author = {Nicholas Nadeau},\n title = {Pybotics: Python Toolbox for Robotics},\n journal = {Journal of Open Source Software}\n}\n```\n\n\u003e 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.\n\n```\n@article{nadeau2019impedance,\n title={Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling},\n volume={8},\n ISSN={2218-6581},\n url={http://dx.doi.org/10.3390/robotics8020033},\n DOI={10.3390/robotics8020033},\n number={2},\n journal={Robotics},\n publisher={MDPI AG},\n author={Nadeau, Nicholas A. and Bonev, Ilian A. and Joubair, Ahmed},\n year={2019},\n month={Apr},\n pages={33}\n}\n```\n\n## Development and Community Guidelines\n\n### Local Development\n\n- Use [poetry](https://python-poetry.org/) to install the dev virtual environment:\n\n```bash\npoetry install\n```\n\n### Docker Development\n\n- Docker is a great tool to test the package in an isolated environment\n- It is especially useful for debugging issues between python versions\n\n```bash\n# launch container attached to current directory\ndocker run -v $(pwd):/$(basename $(pwd)) -w /$(basename $(pwd)) -it python:3 bash\n\n# install deps\npip install poetry\npoetry install\n\n# run tests\nmake test\n```\n\n### Commits\n\n- The repo abides by [SemVer](https://semver.org/), [`semantic-release`](https://github.com/semantic-release/semantic-release), and [Angular commit message syntax](https://github.com/angular/angular/blob/main/CONTRIBUTING.md)\n- It is highly recommended to use the [`commitizen` CLI](https://github.com/commitizen/cz-cli)\n- See commit examples below:\n\n| Change | Commit Type |\n| ------------------------- | ----------- |\n| Bumped dependency version | `build` |\n| Bumped Python requirement | `feat` |\n\n### Dependency Management\n\n```bash\n# refresh lock file\npoetry lock --no-update\n```\n\n### Submit an Issue\n\n- Navigate to the repository's [issue tab](https://github.com/nnadeau/pybotics/issues)\n- Search for related existing issues\n- If necessary, create a new issue using the provided templates\n\n### Contributing\n\n- Please see [`CONTRIBUTING.md`](.github/CONTRIBUTING.md) and the [Code of Conduct](CODE_OF_CONDUCT.md) for how to contribute to the project\n\n### Testing\n\n- Please review the [`Makefile`](Makefile) for an overview of all available tests\n- The most important tests and `make` commands are highlighted below:\n\n```bash\n# auto-format code\nmake format\n\n# perform all static tests\nmake lint\n\n# run all python tests\nmake test\n```\n\n### GitHub Actions\n\n- This repo uses [`semantic-releases`](https://github.com/semantic-release/) to generate releases and release notes automatically from commits\n - A [`PERSONAL_TOKEN` Actions secret](https://github.com/nnadeau/pybotics/settings/secrets/actions) from a [Personal Token](https://github.com/settings/tokens) with a [`public_repo` scope](https://github.com/semantic-release/github#github-authentication) is needed for CI releases\n\n---\n\nIcons made by \u003ca href=\"https://icon54.com/\" title=\"Pixel perfect\"\u003ePixel perfect\u003c/a\u003e from \u003ca href=\"https://www.flaticon.com/\" title=\"Flaticon\"\u003e www.flaticon.com\u003c/a\u003e\n","funding_links":["https://github.com/sponsors/engnadeau","https://ko-fi.com/engnadeau"],"categories":["Frameworks and Stacks"],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fengnadeau%2Fpybotics","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fengnadeau%2Fpybotics","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fengnadeau%2Fpybotics/lists"}