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clemense
yourdfpy

Python parser for URDFs

900K 281 31
stack-of-tasks
pin

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

529K 3K 535
stack-of-tasks
libpinocchio

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

186K 3K 535
stephane-caron
pin-pink

Python inverse kinematics using Pinocchio and QP solvers

166K 743 58
robot-descriptions
robot-descriptions

Access 175+ robot descriptions from the main Python robotics frameworks

84K 748 68
ami-iit
resolve-robotics-uri-py

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

36K 13 4
robotology
idyntree

Multibody Dynamics Library designed for Free Floating Robots

21K 230 72
Phylliade
ikpy

IKPy, an Universal Inverse Kinematics library

18K 997 175
rhoban
onshape-to-robot

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

9K 535 97
ami-iit
rod

The ultimate Python tool for RObot Descriptions processing.

6K 17 3
ami-iit
adam-robotics

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

3K 217 29
dartsim
dartpy

C++20 physics engine for robotics and animation with collision, constraints, and Python bindings

2K 1K 299
upkie
upkie-description

URDF and Xacro descriptions for Upkie wheeled bipeds

2K 34 7
robotology
icub-models

Official URDF and SDF models of the iCub humanoid robot.

2K 48 36
cyberbotics
urdf2webots

A converter between URDF and PROTO files.

1K 158 45
robotology
gym-ignition-models

Collection of robot models compatible with gym-ignition

1K 26 8
stack-of-tasks
pin3-slam

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

1K 3K 535
iory
urdfeus

URDF converter for euslisp

1K 1 2
Phylliade
poppy-inverse-kinematics

An inverse kinematics library aiming performance and modularity

460 993 175
Synria-Robotics
synria-robocore

Unified High-Throughput Robotics Library

414 5 1
stephane-caron
pink-dm-fork

Python inverse kinematics using Pinocchio and QP solvers

397 743 58
stack-of-tasks
pin3x-jnrh2023

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

289 3K 535
lumoe
dlkinematics

Differentiable Forward Kinematics for TensorFlow and Keras based on URDF files

176 16 1
stephane-caron
jvrc-description

URDF description of the JVRC humanoid model.

107 15 3
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