# NxRLab/ModernRobotics

Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.

Repository: https://github.com/NxRLab/ModernRobotics
Canonical: https://ross.abutalabs.com/products/modernrobotics
Homepage: http://modernrobotics.org/
Language: Python
License: MIT
License Family: permissive
Last push: 2026-02-18T04:14:56+00:00

## Health v2 (maintenance only)
Score: 53/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 68, release rhythm 8, longevity 100
- inputs: {"age_days": 3620, "days_push": 196, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 2927, forks 999 (observed 2026-08-28T04:07:30.465705+00:00)

## What it is
The official code library accompanying the textbook 'Modern Robotics: Mechanics, Planning, and Control', providing educational implementations of kinematics, dynamics, and trajectory planning algorithms in Python, MATLAB, and Mathematica. The code prioritizes readability and pedagogy over efficiency or robustness.

## Use cases
- compute forward and inverse kinematics for robot arms
- learn screw theory and Lie group robotics concepts from the Modern Robotics book
- calculate Jacobians and velocity kinematics for serial manipulators
- plan trajectories for robot manipulators
- compute robot dynamics and equations of motion
- follow the Coursera Modern Robotics course with working code examples

## When to choose
- studying or teaching modern robotics using the Lynch and Park textbook
- you need clear, readable reference implementations of screw-theory-based robotics algorithms
- prototyping kinematics and dynamics calculations for research or coursework

## When to avoid
- you need production-grade, performance-optimized robotics software
- you require robust error handling or real-time control
- you need a full robotics framework with simulation, visualization, or hardware drivers

## Facets
- artifact type: library
- maturity: stable
- function: simulation, math, developer-tools
- domain: robotics, education
- platform: python, cross-platform
- tags: kinematics, dynamics, screw-theory, textbook-companion, matlab, mathematica, algorithms

## Member repositories
- NxRLab/ModernRobotics (main) score 53

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:07:30.465705+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T07:33:35.360805+00:00, confidence not recorded.
  - readme: https://github.com/NxRLab/ModernRobotics (fetched 2026-08-28T04:07:30.465705+00:00, sha 83e3daeb2d4c)
  - homepage: http://modernrobotics.org/ (fetched 2026-08-29T09:48:55.819736+00:00, sha f3462de65eaa)
  - site_page: https://hades.mech.northwestern.edu/index.php/Mech:About (fetched 2026-08-29T09:48:55.829564+00:00, sha 481919ec3aae)
- Data as of 2026-08-30T08:39:29.467469+00:00.