Modern Robotics is a code library that implements the algorithms and functions from the textbook Modern Robotics: Mechanics, Planning, and Control, available in Python, MATLAB, and Mathematica.
The library solves the problem of providing accessible implementations of robotics algorithms for learning and reference. Rather than optimizing for production use, it prioritizes readability and educational value by closely mirroring the concepts presented in the accompanying textbook. Each function includes commented explanations of inputs, usage examples, and expected outputs. Functions are organized by the chapter in which they appear in the book, covering topics from basic vector and matrix operations through to more advanced robotics mechanics, planning, and control concepts.
This tool suits students, educators, and practitioners learning robotics theory who need clear, straightforward implementations to understand how algorithms work. It is not intended for performance-critical applications, as the code is explicitly not optimized for efficiency or robustness. Developers building production systems should recognize this as a learning resource rather than a foundation for deployed robotics software, though the library has inspired community ports to other languages and downstream projects that extend it with URDF loading, PyBullet simulation, and TensorFlow integration.
The project maintains the official implementations across three languages with documented function signatures and examples. Community contributions are welcomed, though the maintainers do not vouch for the reliability of unofficial ports or derivative projects built on the library.
