Installation

You will need Python >= 3.10.

Using pip

Install a snapshot from PyPI:

pip install roboticstoolbox-python

Available extras:

swift install Swift, a web-based visualizer
qp install quadratic-programming IK dependencies (qpsolvers, quadprog)
collision install collision checking with coal and trimesh
tool install IPython and pygments, needed to run the rtbtool interactive shell
ik install SymPy and python-flint, to derive analytic inverse kinematics (robot.analytic_ik())
all install swift, qp, collision, and tool. It does not include ik, since SymPy is large and only needed to derive an analytic solver

Warning

coal does not publish Windows wheels on PyPI, so the collision/all extras skip it on Windows and collision checking is unavailable via pip there. It’s available via conda install -c conda-forge coal-python if needed. Everything else in the Toolbox works normally on Windows.

Put extras in a comma-separated list:

pip install roboticstoolbox-python[optionlist]

Install matrix:

Core only:
```
pip install roboticstoolbox-python
```

Swift visualizer only:

pip install roboticstoolbox-python[swift]

QP solver dependencies only:
```
pip install roboticstoolbox-python[qp]
```

Collision checking dependencies only:

pip install roboticstoolbox-python[collision]

rtbtool interactive shell dependencies only:

pip install roboticstoolbox-python[tool]

Analytic inverse kinematics dependencies only (SymPy, python-flint):
```
pip install roboticstoolbox-python[ik]
```
Everything except ik (swift + qp + collision + tool):
```
pip install roboticstoolbox-python[all]
```

Multiple extras explicitly:

pip install roboticstoolbox-python[swift,qp,collision]

From GitHub

To install the bleeding-edge version from GitHub:

git clone https://github.com/petercorke/robotics-toolbox-python.git
cd robotics-toolbox-python
pip install -e .