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robotics-toolbox-python — Agent Instructions

Part of the RVC ecosystem. Read rvc-ecosystem/AGENTS.md first — it defines shared conventions: repo ownership, math invariants, dependency boundaries, git/PR workflow, code standards, tech-debt tracking. This file only adds what's specific to this repo.
PyPI package roboticstoolbox-python
Nickname RTB
Owner Peter Corke (petercorke)
Default branch main
Contribution model Branch → PR; direct push to main at Peter's discretion

Notes specific to this repo

  • Compiles nanobind C++ extensions via scikit-build-core, not Hatch — this is the permanent, justified exception noted in the ecosystem AGENTS.md build-tooling section.
  • Depends on spatialgeometry directly (required); swift is an optional extra (pip install roboticstoolbox-python[swift]), not a stepping-stone to reach spatialgeometry.
  • Uses spatialmath classes (SE3, SO3, UnitQuaternion, etc.) for all pose math — do not re-implement transform mathematics here.
  • Tech-debt tracked as GitHub Issues labelled tech-debt (migrated 2026-08-09). The backlog was large enough that closely-related entries were clustered into parent issues with checklists rather than a flat 1:1 mapping — follow that pattern if filing a cluster of related findings rather than one issue each.