rtbtool

rtbtool is a command line tool that drops you into an Python environment with some toolboxes already loaded. Requires the tool (or all) extra: pip install roboticstoolbox-python[tool].

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for Python (RTB==<version>, SMTB==<version>, SG==<version>, NumPy==<version>, SciPy==<version>, Matplotlib==<version>)

import math
import numpy as np
from scipy import linalg, optimize
import matplotlib.pyplot as plt
from spatialmath import *
from spatialmath.base import *
from spatialmath.base import sym
from roboticstoolbox import *"

# useful variables
from math import pi
puma = models.DH.Puma560()
panda = models.DH.Panda()

func/object?       - show brief help
help(func/object)  - show detailed help
func/object??      - show source code

The import * means that you don't need to use a package prefix. Two robot models are also already imported: puma and panda (both DH-parameter models — models.DH.Puma560() and models.DH.Panda())

>>> puma.fkine(puma.qn)
Out[1]: 
SE3:┏                                           ┓
    ┃ 0          0          1          0.596    ┃
    ┃ 0          1          0         -0.15     ┃
    ┃-1          0          0          0.657    ┃
    ┃ 0          0          0          1        ┃
    ┗                                           ┛
    
>>> puma.plot(puma.qn)

Command line options

positional arguments:
  script                specify script to run

options:
  -h, --help            show this help message and exit
  --backend BACKEND, -B BACKEND
                        specify graphics backend
  --theme THEME, -t THEME
                        specify terminal color theme (neutral, lightbg, nocolor, linux), linux is for dark mode
  --confirmexit, -x     confirm exit
  --prompt PROMPT, -P PROMPT
                        input prompt
  --resultprefix RESULTPREFIX, -R RESULTPREFIX
                        execution result prefix, include {} for execution count number
  --reload              enable autoreload of any imported modules, same as IPython's builtin %autoreload 2
  --no-banner           suppress startup banner
  --showassign, -a      display the result of assignments
  --book                use defaults as per RVC book
  --ansi                use ANSImatrix to display matrices
  --examples, -e        change working directory to shipped examples
  --swift, -s           use Swift as default backend
  --test                non-interactive environment smoke test: print package versions,
                        exercise one real numeric code path per package, exit 0/1
                        instead of starting an interactive shell

Options can also be set via the RTB_OPTIONS environment variable, e.g. export RTB_OPTIONS="--backend TkAgg --prompt 'rtb> ' --reload --showassign".

You can provide a script which runs in the same context, ie. with those packages imported. It is also possible to set the input (--prompt) and result (--resultprefix) prompts.

--showassign/-a means that the result of an assignment

>>> T = SE3()
Out[1]: 
SE3:┏                                           ┓
    ┃ 1          0          0          0        ┃
    ┃ 0          1          0          0        ┃
    ┃ 0          0          1          0        ┃
    ┃ 0          0          0          1        ┃
    ┗                                           ┛

is displayed. Without --showassign (the default) you'd have to write

>>> T = SE3()
>>> T
Out[2]: 
SE3:┏                                           ┓
    ┃ 1          0          0          0        ┃
    ┃ 0          1          0          0        ┃
    ┃ 0          0          1          0        ┃
    ┃ 0          0          0          1        ┃
    ┗                                           ┛