Urdf Python Packages

yourdfpy

Python parser for URDFs

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

pin-pink

Python inverse kinematics using Pinocchio and QP solvers

robot-descriptions

Access 175+ robot descriptions from the main Python robotics frameworks

resolve-robotics-uri-py

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

idyntree

Multibody Dynamics Library designed for Free Floating Robots

ikpy

IKPy, an Universal Inverse Kinematics library

onshape-to-robot

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

rod

The ultimate Python tool for RObot Descriptions processing.

adam-robotics

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

dartpy

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

icub-models

Official URDF and SDF models of the iCub humanoid robot.

upkie-description

URDF and Xacro descriptions for Upkie wheeled bipeds

urdf2webots

A converter between URDF and PROTO files.

gym-ignition-models

Collection of robot models compatible with gym-ignition

urdfeus

URDF converter for euslisp

pin3-slam

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

poppy-inverse-kinematics

IKPy, an Universal Inverse Kinematics library

synria-robocore

Unified High-Throughput Robotics Library

pink-dm-fork

Python inverse kinematics using Pinocchio and QP solvers

pin3x-jnrh2023

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

dlkinematics

Differentiable Forward Kinematics for TensorFlow and Keras based on URDF files

jvrc-description

URDF description of the JVRC humanoid model