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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


  • Function usages
  • Inverse kinematics control


  • Function usages
  • Inverse dynamics control

Computation Efficiency

Running examples/ evaluates inverse dynamics for 5 batches and 500 epochs.

Single Input w/ Autograph Single Input w/o Autograph Batch Input w/ Autograph Batch Input w/o Autograph
CPU 3.82 (s) 71.68 (s) 0.95 (s) 13.02 (s)
GPU 8.53 (s) 89.75 (s) 2.46 (s) 18.27 (s)


You can install tf_rbd from PyPI:

$ pip install tf_rbdl

or, you can also install from source:

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


  • Write examples
  • Parse urdf


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

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