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

You may need to install some dependencies by apt-get install:

sudo apt-get update
sudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev

Then,

pip install scikit-robot

If you would like to use Pybullet Interface and open3d for mesh simplification,

pip install scikit-robot[all]

• 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)