kinpy
- Software
- Robot arms and industry
- Library
A pure Python toolkit for kinematics of robot bodies. It reads URDF, SDF and MJCF files and computes forward kinematics, inverse kinematics and Jacobians.
Source on GitHub: github.com/neka-nat/kinpy (opens in a new tab). Facts read at commit d059e9a (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit d059e9a (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Pure Python library with no compiled dependencies required for core use.
- Reads robot descriptions in URDF, SDF and MJCF formats.
- Builds kinematic chains and reports the joint parameter names they contain.
- Computes forward kinematics, giving position and orientation of each link.
- Creates serial chains from a chosen end effector to support inverse kinematics and Jacobian calculation.
- An optional install extra adds visualization support.
Written by Robotheca from the project's README (opens in a new tab) at commit d059e9a.
Getting started
- Difficulty
- Beginner
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 17 Oct 2026 on master
- Latest release
- None published on GitHub
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.