README.md
# Pybotics
The Python Toolbox for Robotics
- [Explore the docs](https://pybotics.readthedocs.io)
- [View demos and examples](https://github.com/nnadeau/pybotics/tree/master/examples)
- [Report a bug](https://github.com/nnadeau/pybotics/issues)
- [Request a feature](https://github.com/nnadeau/pybotics/issues)
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| Compatibility | [](https://pypi.python.org/pypi/pybotics) [](https://pypi.python.org/pypi/pybotics) |
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| Citations | [](https://doi.org/10.21105/joss.01738) [](https://zenodo.org/badge/latestdoi/66797360) |
| License | [](https://pypi.python.org/pypi/pybotics) |
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## Contents
- [Pybotics](#pybotics)
- [Contents](#contents)
- [Overview](#overview)
- [Usage](#usage)
- [Documentation](#documentation)
- [Installation](#installation)
- [Applications & Examples](#applications--examples)
- [Featured In](#featured-in)
- [Citing](#citing)
- [Development and Community Guidelines](#development-and-community-guidelines)
- [Local Development](#local-development)
- [Docker Development](#docker-development)
- [Commits](#commits)
- [Dependency Management](#dependency-management)
- [Submit an Issue](#submit-an-issue)
- [Contributing](#contributing)
- [Testing](#testing)
- [GitHub Actions](#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](https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Modified_DH_parameters).
## Usage
### Documentation
Please visit https://pybotics.readthedocs.io/
### Installation
```bash
# 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](examples/basic_usage.py)
- [Kinematics](examples/kinematics.ipynb)
- [Calibration](examples/calibration.ipynb)
- [Trajectory and Path Planning](examples/trajectory_generation.ipynb)
- [Machine Learning](examples/machine_learning.ipynb)
- [Dynamics](examples/dynamics.ipynb)
## Featured In
- [Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling](https://www.mdpi.com/2218-6581/8/2/33/htm)
- [PyCon Canada 2017](https://2017.pycon.ca/schedule/53/)
- [Talk Photos](https://500px.com/nicholasnadeau/galleries/pycon-canada-2017)
- [Slides](https://github.com/nnadeau/pycon-canada-2017)
- [Montreal-Python 2017](https://www.youtube.com/watch?v=wgKoGA69YXQ)
## 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](https://python-poetry.org/) to install the dev virtual environment:
```bash
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
```bash
# 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](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)
- It is highly recommended to use the [`commitizen` CLI](https://github.com/commitizen/cz-cli)
- See commit examples below:
| Change | Commit Type |
| ------------------------- | ----------- |
| Bumped dependency version | `build` |
| Bumped Python requirement | `feat` |
### Dependency Management
```bash
# refresh lock file
poetry lock --no-update
```
### Submit an Issue
- Navigate to the repository's [issue tab](https://github.com/nnadeau/pybotics/issues)
- Search for related existing issues
- If necessary, create a new issue using the provided templates
### Contributing
- Please see [`CONTRIBUTING.md`](.github/CONTRIBUTING.md) and the [Code of Conduct](CODE_OF_CONDUCT.md) for how to contribute to the project
### Testing
- Please review the [`Makefile`](Makefile) for an overview of all available tests
- The most important tests and `make` commands are highlighted below:
```bash
# auto-format code
make format
# perform all static tests
make lint
# run all python tests
make test
```
### GitHub Actions
- This repo uses [`semantic-releases`](https://github.com/semantic-release/) to generate releases and release notes automatically from commits
- 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
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