PyRoki

A Modular Toolkit for

Robot Kinematic Optimization

Chung Min Kim *
Brent Yi *
Hongsuk Choi
Yi Ma
Ken Goldberg
Angjoo Kanazawa

UC Berkeley

*Denotes Equal Contribution

(Python Robot Kinematics)

TL;DR: PyRoki is a modular, extensible, and cross-platform toolkit for kinematic optimization.

We unify problems like inverse kinematics, trajectory optimization, and motion retargeting using composable kinematic variables and costs. PyRoki aims to support a broad variety of robots and tasks, and runs on CPU, GPU, and TPU -- fully in Python.

Citation

@inproceedings{kim2025pyroki,
  title={PyRoki: A Modular Toolkit for Robot Kinematic Optimization},
  author={Kim*, Chung Min and Yi*, Brent and Choi, Hongsuk and Ma, Yi and Goldberg, Ken and Kanazawa, Angjoo},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2025},
  url={https://arxiv.org/abs/2505.03728},
}