awesome-robotics-libraries

Python framework with a Unity backend, providing interaction, navigation, and manipulation support for household based robotic agents [ ]

github

AirSim - Simulator based on Unreal Engine for autonomous vehicles [ ]

Physics-based simulator designed to simulate large-scale robot swarms [ ]

Matlab toolbox focussed on robotic manipulators [ ]

Autonomous Vehicles Intelligent simulation software, A Fast and robust simulator software for Autonomous vehicle development. [ ]

Open-source simulator for autonomous driving research [ ]

Formaly V-REP. Virtual robot experimentation platform [ ]

Dynamic multi-robot simulator [ ]

Simulator for grasping research that can accommodate arbitrary hand and robot designs [ ]

Simulation platform for research in embodied artificial intelligence [ ]

Open-source hexapod robot inverse kinematics and gaits visualizer [ ]

Open source robotics simulator [ ]

Nvidia's robotic simulation environment with GPU physics simulation and ray tracing

Modular open robots simulation engine [ ]

Internet-accessible simulation of robots controlled by spiking neural networks [ ]

An easy to use simulator for robotics and deep reinforcement learning [ ]

A extension to PyBullet that allows for the simulation of various robotic manufacturing processes such as milling or 3D-printing. [ ]

A three.js based 3D robot interface [ ]

A realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. [ ]

A Java 3D robot simulator, enables to write own robot controller with modifying environment using available sensors

Popular game engine that now offers open-source tools, tutorials, and resources for robotics simulation [ ]

A complete development environment to model, program and simulate robots, vehicles and mechanical systems [ ]

Planning, programming, operation, analysis and optimization

Path planning and trajectory optimization for industrial robotics and digital mock-up review applications

Simulation and OLP for robots

Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale

,

dm:

ik: solvers (please find IK specialized packages in )

id:

slam:

urdf: parser

sdf: parser

IKBT - A python package to solve robot arm inverse kinematics in symbolic form [ ]

github

Lively - A highly configurable toolkit for commanding robots in mixed modalities [ ]

RelaxedIK - Real-time Synthesis of Accurate and Feasible Robot Arm Motion [ ]

A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots [ ]

Python/PyTorch-based Research Framework for Embodied AI [ ]

DLL - Deep Learning Library (DLL) for C++ [ ]

The Dynamic Neural Network Toolkit [ ]

Lightweight C++ machine learning library for embedded electronics and robotics [ ]

Unified Machine Learning Framework [ ]

github

LeRobot - State-of-the-art approaches, pretrained models, datasets, and simulation environments for real-world robotics in PyTorch. [ ]

github

MiniDNN - A header-only C++ library for deep neural networks [ ]

Scalable C++ machine learning library [ ]

Developing and comparing reinforcement learning algorithms [ ]

gym-dart [ ]

gym-gazebo [ ]

Temporal-difference learning algorithms in reinforcement learning [ ]

A modular simulation framework and benchmark for robot learning [ ]

Header only, dependency-free deep learning framework in C++14 [ ]

AIKIDO

Solving robotic motion planning and decision making problems. [ ]

github

Bioptim - Bioptim, a Python Framework for Musculoskeletal Optimal Control in Biomechanics [ ]

Applications to solve position analysis and path planning problems

A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster. [ ]

Open-Source C++ Library for Robotics, Optimal and Model Predictive Control [ ]

github

Crocoddyl - Optimal control library for robot control under contact sequence [ ]

github

Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles [ ]

github

GPMP2 - Gaussian Process Motion Planner 2 [ ]

Path planning for kinematic chains in environments cluttered with obstacles [ ]

Motion planning framework [ ]

Open motion planning library [ , ]

OCS2 - Efficient continuous and discrete time optimal control implementation [ ]

github

pymanoid - Humanoid robotics prototyping environment based on OpenRAVE [ ]

github

ROS Behavior Tree - [ ]

Ruckig

Real-time, time-optimal and jerk-constrained online trajectory generation. [ ]

A robot simulation toolkit for motion planning [ ]

Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [ ]

Ungar

Expressive and efficient implementation of optimal control problems using template metaprogramming [ ]

github

TopiCo - Time-optimal Trajectory Generation and Control [ ]

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots [ ]

github

TrajectoryOptimization - A fast trajectory optimization library written in Julia [ ]

Framework for generating robot trajectories by local optimization [ ]

Cover tree data structure for quick k-nearest-neighbor search [ ]

by Mike Izbicki et al., ICML 2015

Fast Library for Approximate Nearest Neighbors [ ]

Nearest Neighbor search with KD-trees [ ]

Iterative Closest Point library for 2-D/3-D mapping in Robotics [ ]

github

Octree - Fast radius neighbor search with an Octree [ ]

Efficient Probabilistic 3D Mapping Framework Based on Octrees [ ]

2D/3D image and point cloud processing [ ]

github

Treexy - Brutally fast, sparse, 3D Voxel Grid [ ]

github

voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields [ ]

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping [ ]

Free and open source 3D voxel editor [ ]

CasADi

Symbolic framework for algorithmic differentiation and numeric optimization [ ]

Large scale nonlinear optimization library [ ]

github

eigen-qld - Interface to use the QLD QP solver with the Eigen3 library [ ]

Generic optimisation toolset for robotics platforms [ ]

github

hpipm - High-performance interior-point-method QP solvers (Ipopt, Snopt) [ ]

Parallel solvers for sparse linear systems featuring multigrid methods [ ]

github

ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt) [ ]

Large scale nonlinear optimization library [ ]

github

libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm [ ]

Gaussian processes and Bayesian optimization of black-box functions [ ]

github

lpsolvers - Linear Programming solvers in Python with a unified API [ ]

Nonlinear optimization [ ]

Lightweight C++ library of numerical optimization methods for nonlinear functions [ ]

The Operator Splitting QP Solver [ ]

Scientific library for massively parallel optimization [ ]

The Advanced Proximal Optimization Toolbox [ ]

Multi-objective Optimization in Python [ ]

github

qpsolvers - Quadratic Programming solvers in Python with a unified API [ ]

Numerical Optimization for Robotics. [ ]

Numerical optimization for solving large-scale convex cone problems [ ]

A solver for mixed-integer nonlinear optimization problems [ ]

github

sferes2 - Evolutionary computation [ ]

XML format that describes objects and environments for robot simulators, visualization, and control ( )

XML format for representing a robot model [ ]

onshape-to-robot

Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API [ ]

github

phobos - Add-on for Blender creating URDF and SMURF robot models [ ]

High-performance testbed for advanced perception and control research [ ]

ROS compatible ground robots [ ]

Linorobot

onine - Service Robot based on and Braccio Arm [ ]

Micro-ROS for Arduino

a fork available in the Library Manager

Software framework for robotic systems

Flexible framework for writing robot software [ ]

ROS 2

Version 2.0 of the Robot Operating System (ROS) software stack [ ]

Communication and device interfaces applicable from humanoids to embedded devices [ ]

github

AprilSAM - Real-time smoothing and mapping [ ]

github

Cartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations [ ]

Novel direct and sparse formulation for Visual Odometry [ ]

ElasticFusion - Real-time dense visual SLAM system [ ]

Simultaneous localization and mapping using fiducial markers [ ]

GTSAM - Smoothing and mapping (SAM) in robotics and vision [ ]

Kintinuous - Real-time large scale dense visual SLAM system [ ]

Real-time monocular SLAM [ ]

ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras [ ]

RGB-D Graph SLAM approach based on a global Bayesian loop closure detector [ ]

Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [ ]

Visual Servoing Platform [ ]

BundleTrack

6D Pose Tracking for Novel Objects without 3D Models [ ]

se(3)-TrackNet

6D Pose Tracking for Novel Objects without 3D Models [ ]

Fluid simulation engine for computer graphics applications [ ]

Framework for building parallel multi-disciplinary simulation software [ ]

github

Fastor - Light-weight high performance tensor algebra framework in C++11/14/17 [ ]

github

linalg.h - Single header public domain linear algebra library for C++11 [ ]

github

manif - Small c++11 header-only library for Lie theory. [ ]

github

Sophus - Lie groups using Eigen [ ]

github

SpaceVelAlg - Spatial vector algebra with the Eigen3 [ ]

github

fuse - General architecture for performing sensor fusion live on a robot [ ]

– A fully integrated visualization and debugging desktop app for your robotics data. Combines functionality of tools like , , and more. Also available via

Awesome Robotics

(Kiloreux)

Awesome Robotics

(ahundt)

PythonRobotics

Python sample codes for robotics algorithms

Robotics Coursework

A list of robotics courses you can take online