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Checkout the newer port of the RTB toolbox - with more features - below

https://github.com/petercorke/robotics-toolbox-python

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A Python 3 implementation of Peter Corke's Robotics Toolbox

• Website: https://adityadua24.github.io/robopy/
• Bug reports: https://github.com/adityadua24/robopy/issues

Dependencies:

• VTK
• Numpy
• Scipy

To install:

pip install robopy

Unofficial windows binaries available from: https://www.lfd.uci.edu/~gohlke/pythonlibs/

Puma 560 simulation:-

Click on the image to see a VR simulation

UnitQuaternions:-

Click on the image to see UnitQuaternion animation

Transformation functions:-

Make a gif:-

Pose plot:-

Orion5:-