Urdf 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

resolve-robotics-uri-py

Resolve a package:// or model:// URI to an absolute filename in Python.

robot-descriptions

Access 190+ robot descriptions from the main Python robotics frameworks

onshape-to-robot

Converting Onshape assembly to robot definition (URDF, SDF, MuJoCo) through Onshape API

ikpy

IKPy, an Universal Inverse Kinematics library

idyntree

Multibody Dynamics Library designed for Free Floating Robots

rod

The ultimate Python tool for RObot Descriptions processing.

dartpy

DART: Dynamic Animation and Robotics Toolkit

linkforge-core

The LLVM for Robot Descriptions. A programmable IR engine to compose, validate, and compile URDF/XACRO/SRDF models from Python or Blender.

urdfeus

URDF converter for euslisp

adam-robotics

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

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.

urdf2webots

Utility to convert URDF files to Webots PROTO nodes

icub-models

Official URDF and SDF models of the iCub humanoid robot.

sw2robot

Cross-platform SolidWorks → URDF converter with a browser editor: auto-infers joints from mates, edits any URDF, free prebuilt binaries (Win/macOS/Linux).

upkie-description

URDF and Xacro descriptions for Upkie wheeled bipeds

synria-robocore

Unified High-Throughput Robotics Library

gym-ignition-models

Collection of robot models compatible with gym-ignition

pin3-slam

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

pink-dm-fork

Python inverse kinematics using Pinocchio and QP solvers

jaxterity

JAX-native robotics: URDF/MJCF import, differentiable MJX dynamics, system identification, calibrated actuators & sensors, whole-body control, and per-unit attested digital twins — one calibrated model from sim to silicon.