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

C++20 physics engine for robotics and animation with collision, constraints, and Python bindings

smplfitter

The Fast Way From Vertices to Parametric 3D Humans

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

pybotics

The Python Toolbox for Robotics

optik-py

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

seqikpy

Sequential inverse kinematics pipeline.

pink-dm-fork

Python inverse kinematics using Pinocchio and QP solvers

robopy

A Python 3 implementation of Peter Corke's Robotics Toolbox

kinepy

Python library dedicated to the simulation of plane mechanisms

rex-gym

No description available

poppy-inverse-kinematics

IKPy, an Universal Inverse Kinematics library

ikflow

Open source implementation to the paper "IKFlow: Generating Diverse Inverse Kinematics Solutions"