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PyRoki

  • Software
  • Robot arms and industry
  • Library

PyRoki is a Python toolkit for robot kinematic optimization, built on JAX, covering forward kinematics from URDF files and collision-aware cost design.

Source on GitHub: github.com/chungmin99/pyroki (opens in a new tab). Facts read at commit 388e43e (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 388e43e (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides a differentiable forward kinematics model built from a URDF robot description.
  • Generates collision primitives such as capsules automatically from the robot model.
  • Offers common costs including end-effector pose, self and world collision, and manipulability.
  • Supports arbitrary costs with autodiff or analytical Jacobians.
  • Integrates a Levenberg-Marquardt solver with manifold optimization and hard constraints via an Augmented Lagrangian solver.
  • Runs on CPU, GPU, and TPU through JAX; installable with pip on Python 3.10+.

Written by Robotheca from the project's README (opens in a new tab) at commit 388e43e.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
CPU, GPU, or TPU via JAX; no further hardware requirements are stated.

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
1 Apr 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use 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.