While the Robotics Toolbox is free software, it requires the proprietary MATLAB environment in order to execute.
The Toolbox provides functions for manipulating and converting between datatypes such as vectors, homogeneous transformations, roll-pitch-yaw and Euler angles, axis-angle representation, unit-quaternions, and twists, which are necessary to represent 3-dimensional position and orientation.
It also plots coordinate frames, supports Plücker coordinates to represent lines, and provides support for Lie group operations such as logarithm, exponentiation, and conversions to and from skew-symmetric matrix form.
Its functionality significantly overlaps that of the Robotics Toolbox for MATLAB but the programming model is quite different.
[7][8] Its functionality is a superset of the Robotics Toolbox for MATLAB, the programming model is similar, and it supports additional methods to define a serial link manipulator including URDF and elementary transform sequences.