A port of the Robotics Toolbox for Matlab to the Python language.

First version is out now with support for:

• homogeneous transforms
• unit-quaternions
• trajectories
• forward and inverse kinematics
• inverse dynamics

Rudimentary 3D graphics is now available:

• check out the trplot() function

For the moment there is no:

• graphical animation
• forward dynamics

Built on NumPy.