Robotics Toolbox for Python

Robotics Toolbox for Python by Peter Corke brings the tools known from his MATLAB toolbox to Python. You define an arm with Denavit-Hartenberg parameters, import URDF or pick from dozens of bundled models, and compute forward kinematics, Jacobians, numerical inverse kinematics and joint trajectories. For mobile robots it offers motion models, path planning, localisation and mapping. Display is through matplotlib or a browser-based simulator. It suits robotics teaching and quick algorithm prototyping. Limitation: some extras, such as collision checking and the Swift viewer, are limited on Windows.