URDF-based forward and inverse kinematics helpers for robot arms.

Robokin provides a clean, backend-agnostic API for robot kinematics with pluggable IK solvers, 3D visualization, and real-arm integration.

• Multiple IK backends — Placo, PyRoki, RoboPlan
• URDF-first — load any robot from robot_descriptions or a local URDF file
• 3D visualization — built-in Viser UI with interactive gizmo control
• Rerun logging — stream joint angles and EE trajectories to Rerun dashboards
• Real-arm support — drive hardware via LeRobot or ROS 2

More demo videos will be recorded and added — for existing examples and as new backends and features land.

# Core (numpy, scipy, robot_descriptions)
pip install -e .

# With a specific IK backend
pip install -e ".[placo]"
pip install -e ".[pyroki]"

# With visualization
pip install -e ".[viser]"
pip install -e ".[rerun]"

# Everything
pip install -e ".[all]"

pip install lerobot "lerobot[feetech]"

from robokin import load_robot_description, PyrokiKinematics, PyrokiConfig

# Load SO-101 robot model
model = load_robot_description("so100", ee_link="gripper_frame_link")

# Create kinematics solver
kin = PyrokiKinematics(model.urdf_path, model.joint_names, "gripper_frame_link")

# Solve IK, run servo steps, etc.

robokin/
├── src/robokin/          # Library source
│   ├── robot_model.py    # URDF loading & RobotModel
│   ├── placo.py          # Placo IK backend
│   ├── pyroki.py         # PyRoki IK backend
│   ├── roboplan_oink.py  # RoboPlan backend
│   ├── transformations.py# Pose interpolation & easing
│   ├── pyroki_snippets/  # PyRoki solver variants
│   └── ui/               # Viser & Rerun helpers
├── examples/
│   ├── pyroki/           # PyRoki examples
│   ├── placo/            # Placo examples
│   └── helpers/          # Shared example utilities
├── tests/                # Unit tests
├── pyproject.toml
└── LICENSE

pip install -e ".[dev]"
pytest

Copyright 2026 Dmitri Manajev. Licensed under the Apache License 2.0.