Kinematics Python Packages

pin

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

libpinocchio

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

yourdfpy

Python parser for URDFs

pin-pink

Python inverse kinematics using Pinocchio and QP solvers

pybullet

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

pytorch-kinematics

Robot kinematics implemented in pytorch

loopstructural

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

pytorch-volumetric

Volumetric structures such as voxels and SDFs implemented in pytorch

roboticstoolbox-python

Robotics Toolbox for Python

urdfpy

Python parser for URDFs

jaxsim

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

pymadcad

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

scikit-robot

A Flexible Framework for Robot visualization and programming in Python

dynibo

a fast, reliable and easy to use library for robot kinematics and dynamics

pose2sim

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

spharmgrid

Spherical harmonic tools for atmospheric science with Xarray, PyTorch, and JAX, including scalar and vector filtering, regridding, differential operators, and kinematics

dartpy

DART: Dynamic Animation and Robotics Toolkit

kineticstoolkit

An Open-Source Python Package to Facilitate Research in Biomechanics

movement

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

sports2d

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

ajc27-freemocap-blender-addon

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

ikdh

IKDH is an inverse Kinematics Solver based on Denavit and Hartenberg Convention that outputs all the inverse kinematics solutions for a six revolute personalized robot arm

pykin

Python robot's kinematics library

stepscribe-cad

Turn STEP CAD files into AI-readable context packs: exact dimensions, holes, cutouts, fasteners, assembly relations, joints, weak spots and labelled images. Runs offline. Works with any AI chat, Claude Code (plugin), Copilot and MCP clients.