roboticstoolbox-python 1.3.0__cp312-cp312-win_amd64.whl

roboticstoolbox_python-1.3.0.dist-info/METADATA

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+Metadata-Version: 2.2
+Name: roboticstoolbox-python
+Version: 1.3.0
+Summary: A Python library for robotics education and research
+Keywords: python,robotics,robotics-toolbox,kinematics,dynamics,motion-planning,trajectory-generation,jacobian,hessian,control,simulation,robot-manipulator,mobile-robot
+Author-Email: Jesse Haviland <j.haviland@qut.edu.au>, Peter Corke <rvc@petercorke.com>
+License: MIT License
+         
+         Copyright (c) 2020 jhavl
+         
+         Permission is hereby granted, free of charge, to any person obtaining a copy
+         of this software and associated documentation files (the "Software"), to deal
+         in the Software without restriction, including without limitation the rights
+         to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+         copies of the Software, and to permit persons to whom the Software is
+         furnished to do so, subject to the following conditions:
+         
+         The above copyright notice and this permission notice shall be included in all
+         copies or substantial portions of the Software.
+         
+         THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+         IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+         FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+         AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+         LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+         OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+         SOFTWARE.
+         
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Project-URL: homepage, https://petercorke.github.io/robotics-toolbox-python/
+Project-URL: documentation, https://petercorke.github.io/robotics-toolbox-python/
+Project-URL: repository, https://github.com/petercorke/robotics-toolbox-python
+Requires-Python: >=3.10
+Requires-Dist: numpy
+Requires-Dist: spatialmath-python>=1.1.16
+Requires-Dist: pgraph-python
+Requires-Dist: scipy
+Requires-Dist: matplotlib
+Requires-Dist: ansitable
+Requires-Dist: rtb-data
+Requires-Dist: progress
+Requires-Dist: typing_extensions
+Requires-Dist: colored>2.0.0
+Provides-Extra: swift
+Requires-Dist: swift-sim>=1.0.0; extra == "swift"
+Requires-Dist: websockets<11; extra == "swift"
+Provides-Extra: bullet
+Requires-Dist: pybullet; (platform_machine != "arm64" or sys_platform != "darwin") and extra == "bullet"
+Provides-Extra: collision
+Requires-Dist: pybullet; (platform_machine != "arm64" or sys_platform != "darwin") and extra == "collision"
+Provides-Extra: qp
+Requires-Dist: qpsolvers; extra == "qp"
+Requires-Dist: quadprog; extra == "qp"
+Provides-Extra: all
+Requires-Dist: swift-sim>=1.0.0; extra == "all"
+Requires-Dist: websockets<11; extra == "all"
+Requires-Dist: qpsolvers; extra == "all"
+Requires-Dist: quadprog; extra == "all"
+Requires-Dist: pybullet; (platform_machine != "arm64" or sys_platform != "darwin") and extra == "all"
+Provides-Extra: dev
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: pytest-timeout; extra == "dev"
+Requires-Dist: pyyaml; extra == "dev"
+Requires-Dist: sympy; extra == "dev"
+Requires-Dist: qpsolvers; extra == "dev"
+Requires-Dist: quadprog; extra == "dev"
+Requires-Dist: bdsim; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Provides-Extra: nb
+Requires-Dist: pytest-nbmake; extra == "nb"
+Provides-Extra: docs
+Requires-Dist: sphinx; extra == "docs"
+Requires-Dist: sphinx_rtd_theme; extra == "docs"
+Requires-Dist: sphinx-autorun; extra == "docs"
+Requires-Dist: sphinx_autodoc_typehints; extra == "docs"
+Requires-Dist: sphinx-favicon; extra == "docs"
+Description-Content-Type: text/markdown
+
+# Robotics Toolbox for Python
+
+[![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/py_collection.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+[![Powered by Spatial Maths](https://raw.githubusercontent.com/petercorke/spatialmath-python/master/.github/svg/sm_powered.min.svg)](https://github.com/petercorke/spatialmath-python)
+[![QUT Centre for Robotics Open Source](https://github.com/qcr/qcr.github.io/raw/master/misc/badge.svg)](https://qcr.github.io)
+
+[![PyPI version](https://badge.fury.io/py/roboticstoolbox-python.svg)](https://badge.fury.io/py/roboticstoolbox-python)
+[![Anaconda version](https://anaconda.org/conda-forge/roboticstoolbox-python/badges/version.svg)](https://anaconda.org/conda-forge/roboticstoolbox-python)
+![PyPI - Python Version](https://img.shields.io/pypi/pyversions/roboticstoolbox-python.svg)
+
+[![Build Status](https://github.com/petercorke/robotics-toolbox-python/workflows/CI/badge.svg?branch=main)](https://github.com/petercorke/robotics-toolbox-python/actions?query=workflow%3ACI)
+[![Coverage](https://codecov.io/gh/petercorke/robotics-toolbox-python/branch/main/graph/badge.svg)](https://codecov.io/gh/petercorke/robotics-toolbox-python)
+[![PyPI - Downloads](https://img.shields.io/pypi/dw/roboticstoolbox-python)](https://pypistats.org/packages/roboticstoolbox-python)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+<table style="border:0px">
+<tr style="border:0px">
+<td style="border:0px">
+<img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/RobToolBox_RoundLogoB.png" width="200"></td>
+<td style="border:0px">
+A Python implementation of the <a href="https://github.com/petercorke/robotics-toolbox-matlab">Robotics Toolbox for MATLAB<sup>&reg;</sup></a>
+<ul>
+<li><a href="https://github.com/petercorke/robotics-toolbox-python">GitHub repository </a></li>
+<li><a href="https://petercorke.github.io/robotics-toolbox-python">Documentation</a></li>
+<li><a href="#6">ICRA Paper</a></li>
+<li><a href="https://github.com/petercorke/robotics-toolbox-python/wiki">Wiki (examples and details)</a></li>
+</ul>
+</td>
+</tr>
+</table>
+
+<!-- <br> -->
+
+## Contents
+
+- [Synopsis](#1)
+- [Getting going](#2)
+- [Tutorials](#3)
+- [Code Examples](#4)
+- [Toolbox Research Applications](#5)
+- [Toolbox ICRA Paper and Citation Info](#6)
+- [Using the Toolbox in your Open Source Code?](#7)
+- [Common Issues and Solutions](#8)
+
+<br>
+
+<a id='1'></a>
+
+## Synopsis
+
+This toolbox brings robotics-specific functionality to Python, and leverages
+Python's advantages of portability, ubiquity and support, and the capability of
+the open-source ecosystem for linear algebra (numpy, scipy), graphics
+(matplotlib, three.js, WebGL), interactive development (jupyter, jupyterlab,
+mybinder.org), and documentation (sphinx).
+
+The Toolbox provides tools for representing the kinematics and dynamics of
+serial-link manipulators - you can easily create your own in Denavit-Hartenberg
+form, import a URDF file, or use over 30 supplied models for well-known
+contemporary robots from Franka-Emika, Kinova, Universal Robotics, Rethink as
+well as classical robots such as the Puma 560 and the Stanford arm.
+
+The Toolbox contains fast implementations of kinematic operations. The forward
+kinematics and the manipulator Jacobian can be computed in less than 1 microsecond
+while numerical inverse kinematics can be solved in as little as 4 microseconds.
+
+The toolbox also supports mobile robots with functions for robot motion models
+(unicycle, bicycle), path planning algorithms (bug, distance transform, D\*,
+PRM), kinodynamic planning (lattice, RRT), localization (EKF, particle filter),
+map building (EKF) and simultaneous localization and mapping (EKF).
+
+The Toolbox provides:
+
+- code that is mature and provides a point of comparison for other
+  implementations of the same algorithms;
+- routines which are generally written in a straightforward manner which
+  allows for easy understanding, perhaps at the expense of computational
+  efficiency;
+- source code which can be read for learning and teaching;
+- backward compatability with the Robotics Toolbox for MATLAB
+
+The Toolbox leverages the [Spatial Maths Toolbox for Python](https://github.com/petercorke/spatialmath-python) to
+provide support for data types such as SO(n) and SE(n) matrices, quaternions, twists and spatial vectors.
+
+<br>
+
+<a id='2'></a>
+
+## Getting going
+
+You will need Python >= 3.6
+
+### Using pip
+
+Install a snapshot from PyPI
+
+```shell script
+pip3 install roboticstoolbox-python
+```
+
+Available options are:
+
+- `swift` install [Swift](https://github.com/jhavl/swift), a web-based visualizer
+- `qp` install quadratic-programming IK dependencies (`qpsolvers`, `quadprog`)
+- `bullet` install collision checking with [pybullet](https://pybullet.org)
+- `collision` alias of `bullet` (backward compatibility)
+- `all` install `swift`, `qp`, and `bullet`
+
+Put the options in a comma separated list like
+
+```shell script
+pip3 install roboticstoolbox-python[optionlist]
+```
+
+If you want the Swift visualizer, install the `swift` extra.
+
+Install matrix:
+
+- Core only
+
+```shell script
+pip3 install roboticstoolbox-python
+```
+
+- Swift visualizer only
+
+```shell script
+pip3 install roboticstoolbox-python[swift]
+```
+
+- QP solver dependencies only
+
+```shell script
+pip3 install roboticstoolbox-python[qp]
+```
+
+- Bullet collision dependencies only
+
+```shell script
+pip3 install roboticstoolbox-python[bullet]
+```
+
+- Everything (swift + qp + bullet)
+
+```shell script
+pip3 install roboticstoolbox-python[all]
+```
+
+- Multiple extras explicitly
+
+```shell script
+pip3 install roboticstoolbox-python[swift,qp,bullet]
+```
+
+### From GitHub
+
+To install the bleeding-edge version from GitHub
+
+```shell script
+git clone https://github.com/petercorke/robotics-toolbox-python.git
+cd robotics-toolbox-python
+pip3 install -e .
+```
+
+### Build a JupyterLite/Pyodide wasm wheel (cp313)
+
+This project includes a reproducible wasm wheel build target aligned to current
+JupyterLite runtimes based on Python 3.13.
+
+Build using cibuildwheel's Pyodide platform:
+
+```shell script
+make wheel-pyodide
+```
+
+Optionally pin the Pyodide runtime family to match your JupyterLite deployment:
+
+```shell script
+PYODIDE_VERSION=0.28.3 make wheel-pyodide
+```
+
+The target writes to `dist/` and runs `make wheel-pyodide-check`, which validates
+the wheel filename contains:
+
+- `cp313-cp313`
+- `wasm32`
+- `pyemscripten_<major>_<minor>` or `pyodide_<major>_<minor>`
+
+To inspect the produced artifact path:
+
+```shell script
+ls -1 dist/*wasm32*.whl
+```
+
+<br>
+
+<a id='3'></a>
+
+## Tutorials
+
+<table style="border:0px">
+<tr style="border:0px">
+<td style="border:0px"><a href="https://bit.ly/3ak5GDi"><img src="https://github.com/jhavl/dkt/raw/main/img/article1.png" width="400"></a></td>
+<td style="border:0px"><a href="https://bit.ly/3ak5GDi"><img src="https://github.com/jhavl/dkt/raw/main/img/article2.png" width="400"></a></td>
+<td style="border:0px">
+Do you want to learn about manipulator kinematics, differential kinematics, inverse-kinematics and motion control? Have a look at our
+<a href="https://bit.ly/3ak5GDi">tutorial</a>.
+This tutorial comes with two articles to cover the theory and 12 Jupyter Notebooks providing full code implementations and examples. Most of the Notebooks are also Google Colab compatible allowing them to run online.
+</td>
+</tr>
+</table>
+
+<br>
+
+<a id='4'></a>
+
+## Code Examples
+
+We will load a model of the Franka-Emika Panda robot defined by a URDF file
+
+```python
+import roboticstoolbox as rtb
+robot = rtb.models.Panda()
+print(robot)
+
+	ERobot: panda (by Franka Emika), 7 joints (RRRRRRR), 1 gripper, geometry, collision
+	┌─────┬──────────────┬───────┬─────────────┬────────────────────────────────────────────────┐
+	│link │     link     │ joint │   parent    │              ETS: parent to link               │
+	├─────┼──────────────┼───────┼─────────────┼────────────────────────────────────────────────┤
+	│   0 │ panda_link0  │       │ BASE        │                                                │
+	│   1 │ panda_link1  │     0 │ panda_link0 │ SE3(0, 0, 0.333) ⊕ Rz(q0)                      │
+	│   2 │ panda_link2  │     1 │ panda_link1 │ SE3(-90°, -0°, 0°) ⊕ Rz(q1)                    │
+	│   3 │ panda_link3  │     2 │ panda_link2 │ SE3(0, -0.316, 0; 90°, -0°, 0°) ⊕ Rz(q2)       │
+	│   4 │ panda_link4  │     3 │ panda_link3 │ SE3(0.0825, 0, 0; 90°, -0°, 0°) ⊕ Rz(q3)       │
+	│   5 │ panda_link5  │     4 │ panda_link4 │ SE3(-0.0825, 0.384, 0; -90°, -0°, 0°) ⊕ Rz(q4) │
+	│   6 │ panda_link6  │     5 │ panda_link5 │ SE3(90°, -0°, 0°) ⊕ Rz(q5)                     │
+	│   7 │ panda_link7  │     6 │ panda_link6 │ SE3(0.088, 0, 0; 90°, -0°, 0°) ⊕ Rz(q6)        │
+	│   8 │ @panda_link8 │       │ panda_link7 │ SE3(0, 0, 0.107)                               │
+	└─────┴──────────────┴───────┴─────────────┴────────────────────────────────────────────────┘
+
+	┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐
+	│name │ q0  │ q1     │ q2  │ q3    │ q4  │ q5    │ q6   │
+	├─────┼─────┼────────┼─────┼───────┼─────┼───────┼──────┤
+	│  qr │  0° │ -17.2° │  0° │ -126° │  0° │  115° │  45° │
+	│  qz │  0° │  0°    │  0° │  0°   │  0° │  0°   │  0°  │
+	└─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘
+```
+
+The symbol `@` indicates the link as an end-effector, a leaf node in the rigid-body
+tree (Python prompts are not shown to make it easy to copy+paste the code, console output is indented).
+We will compute the forward kinematics next
+
+```
+Te = robot.fkine(robot.qr)  # forward kinematics
+print(Te)
+
+	0.995     0         0.09983   0.484
+	0        -1         0         0
+	0.09983   0        -0.995     0.4126
+	0         0         0         1
+```
+
+We can solve inverse kinematics very easily. We first choose an SE(3) pose
+defined in terms of position and orientation (end-effector z-axis down (A=-Z) and finger
+orientation parallel to y-axis (O=+Y)).
+
+```python
+from spatialmath import SE3
+
+Tep = SE3.Trans(0.6, -0.3, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1])
+sol = robot.ik_LM(Tep)         # solve IK
+print(sol)
+
+	(array([ 0.20592815,  0.86609481, -0.79473206, -1.68254794,  0.74872915,
+			2.21764746, -0.10255606]), 1, 114, 7, 2.890164057230228e-07)
+
+q_pickup = sol[0]
+print(robot.fkine(q_pickup))    # FK shows that desired end-effector pose was achieved
+
+	 1         -8.913e-05  -0.0003334  0.5996
+	-8.929e-05 -1          -0.0004912 -0.2998
+	-0.0003334  0.0004912  -1          0.1001
+	 0          0           0          1
+```
+
+We can animate a path from the ready pose `qr` configuration to this pickup configuration
+
+```python
+qt = rtb.jtraj(robot.qr, q_pickup, 50)
+robot.plot(qt.q, backend='pyplot', movie='panda1.gif')
+```
+
+<p align="center">
+	<img src="./docs/figs/panda1.gif">
+</p>
+
+where we have specified the matplotlib `pyplot` backend. Blue arrows show the joint axes and the coloured frame shows the end-effector pose.
+
+We can also plot the trajectory in the Swift simulator (a browser-based 3d-simulation environment built to work with the Toolbox)
+
+```python
+robot.plot(qt.q)
+```
+
+<p align="center">
+	<img src="./docs/figs/panda2.gif">
+</p>
+
+We can also experiment with velocity controllers in Swift. Here is a resolved-rate motion control example
+
+```python
+import swift
+import roboticstoolbox as rtb
+import spatialmath as sm
+import numpy as np
+
+env = swift.Swift()
+env.launch(realtime=True)
+
+panda = rtb.models.Panda()
+panda.q = panda.qr
+
+Tep = panda.fkine(panda.q) * sm.SE3.Trans(0.2, 0.2, 0.45)
+
+arrived = False
+env.add(panda)
+
+dt = 0.05
+
+while not arrived:
+
+    v, arrived = rtb.p_servo(panda.fkine(panda.q), Tep, 1)
+    panda.qd = np.linalg.pinv(panda.jacobe(panda.q)) @ v
+    env.step(dt)
+
+# Uncomment to stop the browser tab from closing
+# env.hold()
+```
+
+<p align="center">
+	<img src="./docs/figs/panda3.gif">
+</p>
+
+### Run some examples
+
+The [`notebooks`](https://github.com/petercorke/robotics-toolbox-python/tree/main/notebooks) folder contains some tutorial Jupyter notebooks which you can browse on GitHub. Additionally, have a look in the [`examples`](https://github.com/petercorke/robotics-toolbox-python/tree/main/roboticstoolbox/examples) folder for many ready to run examples.
+
+<br>
+
+<a id='6'></a>
+
+## Toolbox ICRA Paper and Citation Info
+
+Check out our ICRA 2021 paper on [IEEE Xplore](https://ieeexplore.ieee.org/document/9561366) or get the PDF from [Peter's website](https://bit.ly/3ChcyNp).
+
+If the toolbox helped you in your research, please cite
+
+```
+@inproceedings{rtb,
+  title={Not your grandmother’s toolbox--the Robotics Toolbox reinvented for Python},
+  author={Corke, Peter and Haviland, Jesse},
+  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
+  pages={11357--11363},
+  year={2021},
+  organization={IEEE}
+}
+```
+
+<br>
+
+<a id='7'></a>
+
+
+
+## Using the Toolbox in your Open Source Code?
+
+If you are using the Toolbox in your open source code, feel free to add our badge to your readme!
+
+For the powered by robotics toolbox badge
+
+[![Powered by the Robotics Toolbox](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/rtb_powered.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+
+copy the following
+
+```
+[![Powered by the Robotics Toolbox](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/rtb_powered.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+```
+
+For the powered by python robotics badge
+
+[![Powered by Python Robotics](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/pr_powered.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+
+copy the following
+
+```
+[![Powered by Python Robotics](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/pr_powered.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+```
+
+<br>
+
+<a id='8'></a>
+
+## Common Issues and Solutions
+
+See the common issues with fixes [here](https://github.com/petercorke/robotics-toolbox-python/wiki/Common-Issues).
+
+### Using the Toolbox with Windows?
+
+Graphical visualisation via swift is currently not supported under Windows. However there is a hotfix, by changing in ```SwiftRoute.py```
+
+```self.path[9:]``` to  ```self.path[10:]```
+
+<br>
+
+<br>
+
+<a id='5'></a>
+
+## Toolbox Research Applications
+
+The toolbox is incredibly useful for developing and prototyping algorithms for research, thanks to the exhaustive set of well documented and mature robotic functions exposed through clean and painless APIs. Additionally, the ease at which a user can visualize their algorithm supports a rapid prototyping paradigm.
+
+### Publication List
+
+J. Haviland, N. Sünderhauf and P. Corke, "**A Holistic Approach to Reactive Mobile Manipulation**," in _IEEE Robotics and Automation Letters_, doi: 10.1109/LRA.2022.3146554. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the [Swift](https://github.com/jhavl/swift) Simulator.
+
+[[Arxiv Paper](https://arxiv.org/abs/2109.04749)] [[IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/9695298)] [[Project Website](https://jhavl.github.io/holistic/)] [[Video](https://youtu.be/-DXBQPeLIV4)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/main/roboticstoolbox/examples/holistic_mm_non_holonomic.py)]
+
+<p>
+  <a href="https://youtu.be/-DXBQPeLIV4">
+    <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/holistic_youtube.png" width="560">
+  </a>
+</p>
+
+J. Haviland and P. Corke, "**NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators**," in _IEEE Robotics and Automation Letters_, doi: 10.1109/LRA.2021.3056060. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the [Swift](https://github.com/jhavl/swift) Simulator.
+
+[[Arxiv Paper](https://arxiv.org/abs/2010.08686)] [[IEEE Xplore](https://ieeexplore.ieee.org/document/9343718)] [[Project Website](https://jhavl.github.io/neo/)] [[Video](https://youtu.be/jSLPJBr8QTY)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/main/roboticstoolbox/examples/neo.py)]
+
+<p>
+  <a href="https://youtu.be/jSLPJBr8QTY">
+    <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/neo_youtube.png" width="560">
+  </a>
+</p>
+
+K. He, R. Newbury, T. Tran, J. Haviland, B. Burgess-Limerick, D. Kulić, P. Corke, A. Cosgun, "**Visibility Maximization Controller for Robotic Manipulation**", in _IEEE Robotics and Automation Letters_, doi: 10.1109/LRA.2022.3188430. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the [Swift](https://github.com/jhavl/swift) Simulator.
+
+[[Arxiv Paper](https://arxiv.org/abs/2202.12557)] [[IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/9815144)] [[Project Website](https://rhys-newbury.github.io/projects/vmc/)] [[Video](https://youtu.be/vobLvg4E3kM)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/main/roboticstoolbox/examples/fetch_vision.py)]
+
+<p>
+  <a href="https://youtu.be/vobLvg4E3kM">
+    <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/future/docs/figs/vmc_youtube.png" width="560">
+  </a>
+</p>
+
+**A Purely-Reactive Manipulability-Maximising Motion Controller**, J. Haviland and P. Corke. In the video, the robot is controlled using the Robotics toolbox for Python.
+
+[[Paper](https://arxiv.org/abs/2002.11901)] [[Project Website](https://jhavl.github.io/mmc/)] [[Video](https://youtu.be/Vu_rcPlaADI)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/main/roboticstoolbox/examples/mmc.py)]
+
+<p>
+  <a href="https://youtu.be/Vu_rcPlaADI">
+    <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/mmc_youtube.png" width="560">
+  </a>
+</p>
+
+<br>
+
+<br>