Inverse Kinematics Python Packages

mink

Python inverse kinematics based on MuJoCo.

pin-pink

Python inverse kinematics using Pinocchio and QP solvers

ikpy

IKPy, an Universal Inverse Kinematics library

dartpy

Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings

smplfitter

The Fast Way From Vertices to Parametric 3D Humans

manipulapy

ManipulaPy is a modular, GPU-accelerated Python package for robotic manipulator simulation, planning, control, and perception. It supports kinematics, dynamics, path planning, control strategies, PyBullet simulation, and even 3D vision with stereo processing and YOLO-based obstacle detection.

pybotics

The Python Toolbox for Robotics

frankik

Blazing fast, analytical Inverse Kinematics for Franka Emika Panda and FR3 robots. Lightweight Python bindings, no ROS required.

pyoptas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

rofunc

🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation

optik-py

An optimizing IK solver based on the Lie group of rigid transforms SE(3)

pink-dm-fork

Python inverse kinematics using Pinocchio and QP solvers

robopy

Robopy is a python port for Robotics Toolbox in Matlab created by Peter Corke

poppy-inverse-kinematics

An inverse kinematics library aiming performance and modularity

kinepy

Python library dedicated to the simulation of plane mechanisms

rex-gym

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

seqikpy

Inverse kinematics module for biomechanical models

ikflow

Open source implementation of the 'IKFlow' inverse kinematics solver