scikit-robot
- Software
- Robot arms and industry
- Library
A pure-Python library for robot kinematics, motion planning, visualization and control. It loads robot models from URDF files and offers several interactive viewers.
Source on GitHub: github.com/iory/scikit-robot (opens in a new tab). Facts read at commit 91a3d4b (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 91a3d4b (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Loads robot models from URDF files and provides a set of ready-made robot models.
- Computes forward and inverse kinematics, along with forward and inverse dynamics.
- Detects collisions and plans collision-free trajectories using trajectory optimization.
- Offers an interactive browser viewer with joint sliders, IK drag controls and motion planning.
- Provides a Jupyter notebook viewer that works in notebooks and Google Colab.
- Ships a unified skr command-line tool for visualizing and converting URDF models and meshes.
Written by Robotheca from the project's README (opens in a new tab) at commit 91a3d4b.
Getting started
- Difficulty
- Intermediate
- Hardware it needs, as the project states it
- Installed with pip or uv; some dependencies need apt-get packages on Linux. No computer, GPU or memory requirements are stated.
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 22 Oct 2026 on main
- Latest release
- v0.4.3 (22 Oct 2026)
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.