Urdf Python Packages

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

1.5M 4K 553

yourdfpy

Python parser for URDFs

1.2M 286 33

libpinocchio

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

579K 4K 553

pin-pink

Python inverse kinematics using Pinocchio and QP solvers

215K 794 61

robot-descriptions

Access 185+ robot descriptions from the main Python robotics frameworks

96K 786 72

resolve-robotics-uri-py

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

33K 13 4

ikpy

IKPy, an Universal Inverse Kinematics library

23K 1K 176

idyntree

Multibody Dynamics Library designed for Free Floating Robots

20K 231 72

onshape-to-robot

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

11K 569 99

dartpy

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

10K 1K 301

rod

The ultimate Python tool for RObot Descriptions processing.

6K 17 3

icub-models

Official URDF and SDF models of the iCub humanoid robot.

4K 47 37

adam-robotics

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

3K 219 31

gym-ignition-models

Collection of robot models compatible with gym-ignition

2K 26 8

synria-robocore

Unified High-Throughput Robotics Library

2K 17 1

linkforge-core

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

2K 241 20

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

urdfeus

URDF converter for euslisp

1K 1 2

urdf2webots

Utility to convert URDF files to Webots PROTO nodes

946 160 46

upkie-description

URDF description for the Upkie wheeled biped.

509 35 7

pink-dm-fork

Python inverse kinematics using Pinocchio and QP solvers

427 794 61

poppy-inverse-kinematics

An inverse kinematics library aiming performance and modularity

342 1K 176

pin3-slam

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

331 4K 553

dlkinematics

Differentiable Forward Kinematics for TensorFlow and Keras based on URDF files

248 16 1