Inverse Kinematics Python Packages

pin-pink

Python inverse kinematics using Pinocchio and QP solvers

mink

Python inverse kinematics based on MuJoCo.

ikpy

IKPy, an Universal Inverse Kinematics library

embodik

Prioritized inverse kinematics for many robot bodies: a C++ solver with Python bindings, collision and balance constraints, and an experimental CUDA batch whole-body solver.

frankik

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

dartpy

DART: Dynamic Animation and Robotics Toolkit

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.

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)

pyoptas

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

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

kinepy

Python library dedicated to the simulation of plane mechanisms

poppy-inverse-kinematics

IKPy, an Universal Inverse Kinematics library

rex-gym

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

seqikpy

Sequential inverse kinematics pipeline.

caliper-robotics

Open robotics engine in Rust — kinematics, IK, dynamics, planning, control, datasets. One engine, three faces: desktop app, CLI, Python.

ikflow

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