🤖 PyRoki - A fast and simple robotics toolkit for Python

🤖 PyRoki

PyRoki

Key Features:

- 1.7× faster at inverse kinematics (IK) calculations than alternatives

- Runs on CPU, GPU, and TPU

- Fully open-source, written in pure Python

Capabilities:

- Inverse Kinematics (IK): Specify a target point for parts; IK calculates joint rotations.

- Trajectory optimization

- Motion retargeting (transferring animations to other robots)

Why It’s Awesome:

- Outperforms cuRobo in speed, precision, and success rate

- Seamless integration with any stack: industrial manipulators, simulators, humanoids

- Flexible architecture: extend with modules, add custom kinematic chains and metrics

Links:

- Website: http://pyroki-toolkit.github.io

- Repository: https://github.com/chungmin99/pyroki

- Research Paper: http://arxiv.org/abs/2505.03728

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