Pyro: An Open-Source Python library for robotics

During my PhD at MIT, I developed an object-oriented Python library for robot dynamic simulation, analysis, control and planning. The aim is to have very modular software tools to facilitate fast implementations. The library is open-source (see https://github.com/SherbyRobotics/pyro), currently about 10,000+ lines of code, and includes algorithms such as RRT search, Value iteration, Computed Torque, Sliding Mode Control, Reinforcement Learning, etc.

The library is now being developed for teaching robotic engineering at Université de Sherbrooke.