scikit-kinematics - Documentation

scikit-kinematics is a library for scientific data analysis, with a focus on 3d kinematics.

It is hosted under, and contains the following modules:

imus Analysis routines for IMU-recordings
  • calculation of orientation from velocity, recorded with IMUs or space-fixed systems (four different algorithms are implemente here:
    • simple quaternion integration
    • a quaternion Kalman filter
    • Madgwick’s algorithm
    • Mahony’s algorithm
  • calculation of position and orientation from IMU-signals
  • The sub-directory sensors contains utility to import in data from xio, XSens, and yei system
markers Analysis routines for 3D movements from marker-based video recordings
  • a function that takes recordings from video-systems (e.g. Optotrak) and calculates position and orientation
  • calculation of joint movements from marker recordings
quat Functions for working with quaternions:
  • quaternion multiplication, inversion, conjugate
  • conversions to rotation matrices, axis angles, vectors
  • a Quaternion class, including operator overloading for multiplication and division
  • also work on data arrays
rotmat Functions for working with rotation matrices
  • rotation matrices for rotations about the x-, y-, and z-axis
  • symbolic rotation matrices
  • conversions to Euler, Fick, Helmholtz angles
  • spatial transformation matrices
  • Denavit-Hartenberg transformations
vector Functions for working with vectors
  • angle between vectors
  • Gram-Schmidt orthogonalization
  • projection
  • normalization
  • rotation
  • also work on data arrays

view Visualization of time-series data, and of 3D orientations

In addition, the packages includes the general module

misc Mainly GUI-functions for directory- and file selection etc.


Interactively analyze time-series data.


Visualize 3D orientations.


The simplest way to install skinematics is a two-step process

>>> pip install scikit-kinematics

However, you can also install from the source files. To do this, just go to the root directory of the package, and type

>>> python install

Note: After skinematics is installed, I typically import it in Python with:

>>> import skinematics as skin


For upgrading to the latest version, you have to type

>>> pip install --upgrade --no-deps scikit-kinematics

Warning: Do not use pip install scikit-kinematics -U, since that command also upgrades dependencies such as numpy. This can break e.g. WinPython, since the numpy-version including MKL may be replaced by one without MKL.


numpy, scipy, matplotlib, pandas, sympy


The easiest way to test the package is with unittest. Open a terminal, and type (on the command-line!):

>>> cd [_your_installation_dir_]\skinematics\tests
>>> python -m unittest

Indices and tables


Author: Thomas Haslwanter
Version: 0.8.0
Date: Oct 2018
Copyright (c): 2018, Thomas Haslwanter. All rights reserved.
Licence: This work is licensed under the BSD 2-Clause License