My Toolboxes are free (as in beer) but you do need to have a MATLAB licence to run them.  This has spawned some interest in alternative language implementations.  The Toolbox has been partly ported to Octave, Python and Julia.


The Toolbox, as distributed, includes Octave code that covers some of the functionality.  You can find that in the octave folder of the RTB distribution or on GitHub.


There are a few options to choose from, none as complete as the MATLAB version:

  • RoboPy, available from GitHub or simply
pip install robopy


Julia is an exciting new language with a syntax like MATLAB but with other advanced features. If you haven’t discovered Julia yet it’s worth taking a look at

A partial port of RTB to Julia is on GitHub.