Kinematics Python Packages

pin

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

yourdfpy

Python parser for URDFs

libpinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

pybullet

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

pin-pink

Python inverse kinematics using Pinocchio and QP solvers

pytorch-kinematics

Robot kinematics implemented in pytorch

urdfpy

Python parser for URDFs

loopstructural

LoopStructural is an open-source 3D structural geological modelling library.

roboticstoolbox-python

Robotics Toolbox for Python

pymadcad

Simple yet powerful CAD (Computer Aided Design) library, written with Python.

pytorch-volumetric

Volumetric structures such as voxels and SDFs implemented in pytorch

dartpy

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

jaxsim

A differentiable physics engine and multibody dynamics library for control and robot learning.

scikit-robot

A Flexible Framework for Robot visualization and programming in Python

vvcm-rs

Rust implementation for kinematics of multi-robot transporting systems with a deformable sheet using the Virtual Variable Cables Model (VVCM).

pose2sim

Markerless kinematics with any cameras — From 2D Pose estimation to 3D OpenSim motion

ajc27-freemocap-blender-addon

Blender add-on to load, display, and work with FreeMoCap motion capture recordings

sports2d

Compute 2D human pose and angles from a video or a webcam.

movement

A Python toolbox for analysing animal body movements across space and time

kineticstoolkit

An Open-Source Python Package to Facilitate Research in Biomechanics

synria-robocore

Unified High-Throughput Robotics Library

compas-robots

Basic infrastructure for working with robots in COMPAS.

basic-robotics

General Purpose Robotics Kinematics and Analysis Repository. Functions for Serial Robots, Parallel Robots, and whatever you'd like to define!

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.