SymForce

Software
Navigation and mapping
Library

SymForce is a symbolic math and code generation library for robotics, used for state estimation, computer vision and control. It generates fast C++ or Python code with automatic Jacobians.

Made by symforce.

Source on GitHub: github.com/symforce-org/symforce (opens in a new tab). Facts read at commit 2bcd467 (opens in a new tab).

Licenses

Code: Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 2bcd467 (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

What it does

Symbolic toolkit built on the SymPy API, with geometry and camera types and Lie group operations.
Code generator turns symbolic expressions into fast, branchless code and can target other languages through templates.
Optimization library based on factor graphs for tangent-space nonlinear least-squares problems, usable from Python and C++.
Computes tangent-space Jacobians automatically, avoiding handwritten derivatives.
Generated functions can be used directly as factors in the nonlinear optimizer.
Developed and maintained by Skydio, where it is used in production for SLAM, bundle adjustment, calibration and nonlinear MPC.

Written by Robotheca from the project's README (opens in a new tab) at commit 2bcd467.

Getting started

Difficulty: Advanced
Hardware it needs, as the project states it: Pip wheels are available for Linux and Mac, Python 3.10 or later; building from source needs CMake and the GMP library; Windows is untested.
How to start: The project's website (opens in a new tab)

Maintenance

Status: Active: a commit in the last 90 days
Newest commit: 30 Sept 2026 on main
Latest release: v0.12.0 (19 Aug 2026)

Checked on GitHub on 16 Oct 2026.

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.