scikit-robot: A Flexible Framework for Robot Control in Python

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Scikit-Robot is a lightweight pure-Python library for robotic kinematics, motion planning, visualization and control.

Installation

pip install scikit-robot

If you would like to use Pybullet Interface,

pip install scikit-robot[all]

Features

Loading robot model from URDF (examples/robot_models.py)
Forward and inverse kinematics (examples/trimesh_scene_viewer.py)
Collision detection
Interactive viewer (examples/trimesh_scene_viewer.py)
Pybullet and ROS command interface (examples/pybullet_robot_interface.py)
Forward and inverse dynamics
Path planning (examples/collision_free_trajectory.py)