Motion Planning Python Packages

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

1.5M 4K 553

libpinocchio

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

579K 4K 553

toppra

robotic motion planning library

107K 897 208

ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

75K 1K 255

python-motion-planning

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

46K 1K 149

skymarshal

Fast symbolic computation, code generation, and nonlinear optimization for robotics

37K 2K 170

symforce

Fast symbolic computation, code generation, and nonlinear optimization for robotics

19K 2K 170

symforce-sym

Fast symbolic computation, code generation, and nonlinear optimization for robotics

18K 2K 170

roboticstoolbox-python

Robotics Toolbox for Python

16K 3K 581

crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

11K 1K 209

scikit-robot

A Flexible Framework for Robot visualization and programming in Python

9K 160 32

commonroad-io

Tool to read, write, and visualize CommonRoad scenarios and base for other tools from the CommonRoad framework.

7K 20 1

libcrocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

6K 1K 209

mjpl

MuJoCo motion planning library.

4K 22 5

adam-robotics

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

3K 219 31

kompass-core

Blazzingly fast, GPU powered, feature complete motion planning and control package for robot navigation.

3K 10 0

copp-py

Convex-Objective Path Parameterization

2K 25 5

certflow

Certified route planning under drifting costs: conformal certificates (LB<=OPT<=UB), certificate-directed sensing, proof-gated ns-us preprocessing, and an observable-coverage layer (WATCH + Shiryaev-Roberts). 250 tests, validated on real METR-LA.

1K 1 0

commonroad-scenario-designer

Toolbox for Map Conversion and Scenario Creation for Autonomous Vehicles.

1K 86 26

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.

1K 20 3