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Rigid Body Dynamics Library using Tensorflow.

Project description



tf_rbdl is a python library that contains some essential rigid body dynamics algorithms such as forward dynamics and inverse dynamics using Tensorflow. It uses Lie Group representation and provides kinematic and dynamics quatities of rigid body systems.


General Usages


You can install tf_rbdl from PyPI:

$ pip install tf_rbdl

or, you can also install from source:

$ git clone
$ cd tf_rbdl
$ pip install -e .


  author       = {Junhyeok Ahn},
  title        = {junhyeokahn/tf\_rbdl: tf\_rbdl-v1.2.0},
  month        = may,
  year         = 2020,
  publisher    = {Zenodo},
  version      = {v1.2.0},
  doi          = {10.5281/zenodo.3828061},
  url          = {}


  • Write examples
  • Parse urdf


This library is based on the book Modern Robotics and the code.

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