awesome-robotics-libraries
Robotics library
A curated collection of robotics libraries and simulators for robotics research and development
A curated list of robotics libraries and software
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last commit: 7 months ago
Linked from 6 awesome lists
awesome-listmachine-learningmotion-planningmultibody-dynamicsoptimizationroboticsrobotics-librariessimulationslam
Awesome Robotics Libraries / Simulators | |||
| AI2-THOR | Python framework with a Unity backend, providing interaction, navigation, and manipulation support for household based robotic agents [ ] | ||
| github | 16,581 | 7 months ago | AirSim - Simulator based on Unreal Engine for autonomous vehicles [ ] |
| ARGoS | Physics-based simulator designed to simulate large-scale robot swarms [ ] | ||
| ARTE | Matlab toolbox focussed on robotic manipulators [ ] | ||
| AVIS Engine | Autonomous Vehicles Intelligent simulation software, A Fast and robust simulator software for Autonomous vehicle development. [ ] | ||
| CARLA | Open-source simulator for autonomous driving research [ ] | ||
| CoppeliaSim | Formaly V-REP. Virtual robot experimentation platform [ ] | ||
| Gazebo | Dynamic multi-robot simulator [ ] | ||
| GraspIt! | Simulator for grasping research that can accommodate arbitrary hand and robot designs [ ] | ||
| Habitat-Sim | Simulation platform for research in embodied artificial intelligence [ ] | ||
| Hexapod Robot Simulator | Open-source hexapod robot inverse kinematics and gaits visualizer [ ] | ||
| Ignition Gazebo | Open source robotics simulator [ ] | ||
| Isaac Sim | Nvidia's robotic simulation environment with GPU physics simulation and ray tracing | ||
| MORSE | Modular open robots simulation engine [ ] | ||
| Neurorobotics Platform | Internet-accessible simulation of robots controlled by spiking neural networks [ ] | ||
| PyBullet | An easy to use simulator for robotics and deep reinforcement learning [ ] | ||
| PyBullet_Industrial | A extension to PyBullet that allows for the simulation of various robotic manufacturing processes such as milling or 3D-printing. [ ] | ||
| Robot Gui | A three.js based 3D robot interface [ ] | ||
| SAPIEN | A realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. [ ] | ||
| Simbad | A Java 3D robot simulator, enables to write own robot controller with modifying environment using available sensors | ||
| Unity | Popular game engine that now offers open-source tools, tutorials, and resources for robotics simulation [ ] | ||
| Webots | A complete development environment to model, program and simulate robots, vehicles and mechanical systems [ ] | ||
| Actin Simulation | |||
| Artiminds | Planning, programming, operation, analysis and optimization | ||
| Kineo | Path planning and trajectory optimization for industrial robotics and digital mock-up review applications | ||
| RobotDK | Simulation and OLP for robots | ||
| RobotStudio | |||
| Robot Virtual Worlds | |||
| Virtual Robotics Toolkit | |||
| Visual Components | |||
| AWS RoboMaker | Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale | ||
Awesome Robotics Libraries / Libraries / Dynamics Simulation | |||
| ARCSim | |||
| Bullet | |||
| github | 12,777 | 5 months ago | |
| CHRONO::ENGINE | |||
| github | 2,266 | about 1 month ago | |
| DART | |||
| github | |||
| Drake | |||
| github | 3,387 | about 1 month ago | |
| Flex | |||
| github | 675 | almost 4 years ago | |
| FROST | |||
| github | 159 | about 1 year ago | |
| IBDS | |||
| github | 177 | about 1 month ago | |
| KDL | |||
| github | 714 | 3 months ago | |
| github | 556 | 3 months ago | |
| Klampt | |||
| github | 384 | about 2 months ago | |
| LibrePilot | |||
| bitbucket | , | ||
| MARS | |||
| github | 62 | 7 months ago | |
| MBDyn | |||
| download | |||
| MBSim | |||
| github | 45 | about 1 month ago | |
| MBSlib | |||
| github | 8 | over 8 years ago | |
| github | 14 | over 6 years ago | |
| Moby | |||
| github | 35 | about 3 years ago | |
| mrpt | |||
| github | 1,972 | about 1 month ago | |
| MuJoCo | |||
| licenses | |||
| mvsim | |||
| github | 302 | about 1 month ago | |
| Newton Dynamics | |||
| github | 954 | 2 months ago | |
| nphysics | |||
| github | 1,631 | over 3 years ago | |
| ODE | |||
| bitbucket | |||
| OpenRAVE | |||
| github | 731 | about 1 month ago | |
| pinocchio | |||
| github | 1,999 | about 1 month ago | |
| github | 1,953 | 6 months ago | |
| PhysX | |||
| github | 3,218 | over 1 year ago | |
| PyDy | |||
| github | 378 | 5 months ago | |
| RBDL | |||
| github | 573 | 2 months ago | |
| github | 173 | about 1 month ago | |
| RaiSim | |||
| custom | 327 | about 4 years ago | |
| github | 327 | about 4 years ago | |
| ReactPhysics3d | |||
| github | 1,556 | 3 months ago | |
| github | 290 | 2 months ago | |
| Rigs of Rods | |||
| github | 1,034 | about 1 month ago | |
| Robopy | |||
| github | 224 | almost 4 years ago | |
| Robotics Library | |||
| github | 968 | 4 months ago | |
| RobWork | |||
| gitlab | |||
| siconos | |||
| github | 167 | about 1 month ago | |
| Simbody | |||
| github | |||
| SOFA | |||
| github | 941 | about 1 month ago | |
| github | 1,244 | 3 months ago | |
| trep | |||
| github | 19 | over 1 year ago | |
| github | 934 | over 3 years ago | |
| discrete mechanics | dm: | ||
| inverse kinematics | ik: solvers (please find IK specialized packages in ) | ||
| inverse dynamics | id: | ||
| simultaneous localization and mapping | slam: | ||
| urdf | urdf: parser | ||
| sdf | sdf: parser | ||
Awesome Robotics Libraries / Libraries / Inverse Kinematics | |||
| github | IKBT - A python package to solve robot arm inverse kinematics in symbolic form [ ] | ||
| github | 7 | over 1 year ago | Lively - A highly configurable toolkit for commanding robots in mixed modalities [ ] |
| github | RelaxedIK - Real-time Synthesis of Accurate and Feasible Robot Arm Motion [ ] | ||
| Trip | A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots [ ] | ||
Awesome Robotics Libraries / Libraries / Machine Learning | |||
| AllenAct | Python/PyTorch-based Research Framework for Embodied AI [ ] | ||
| github | DLL - Deep Learning Library (DLL) for C++ [ ] | ||
| DyNet | The Dynamic Neural Network Toolkit [ ] | ||
| Fido | Lightweight C++ machine learning library for embedded electronics and robotics [ ] | ||
| Ivy | Unified Machine Learning Framework [ ] | ||
| github | 7,874 | about 1 month ago | LeRobot - State-of-the-art approaches, pretrained models, datasets, and simulation environments for real-world robotics in PyTorch. [ ] |
| github | 399 | almost 4 years ago | MiniDNN - A header-only C++ library for deep neural networks [ ] |
| mlpack | Scalable C++ machine learning library [ ] | ||
| OpenAI Gym | Developing and comparing reinforcement learning algorithms [ ] | ||
Awesome Robotics Libraries / Libraries / Machine Learning / OpenAI Gym | |||
| github | gym-dart [ ] | ||
| github | gym-gazebo [ ] | ||
Awesome Robotics Libraries / Libraries / Machine Learning | |||
| RLLib | Temporal-difference learning algorithms in reinforcement learning [ ] | ||
| robosuite | A modular simulation framework and benchmark for robot learning [ ] | ||
| tiny-dnn | Header only, dependency-free deep learning framework in C++14 [ ] | ||
Awesome Robotics Libraries / Libraries / Motion Planning and Control | |||
| AIKIDO | 217 | almost 2 years ago | Solving robotic motion planning and decision making problems. [ ] |
| github | 94 | about 1 month ago | Bioptim - Bioptim, a Python Framework for Musculoskeletal Optimal Control in Biomechanics [ ] |
| CuiKSuite | Applications to solve position analysis and path planning problems | ||
| cuRobo | A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster. [ ] | ||
| Control Toolbox | Open-Source C++ Library for Robotics, Optimal and Model Predictive Control [ ] | ||
| github | 870 | about 1 month ago | Crocoddyl - Optimal control library for robot control under contact sequence [ ] |
| github | 522 | about 2 months ago | Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles [ ] |
| github | 316 | over 2 years ago | GPMP2 - Gaussian Process Motion Planner 2 [ ] |
| HPP | Path planning for kinematic chains in environments cluttered with obstacles [ ] | ||
| MoveIt! | Motion planning framework [ ] | ||
| OMPL | Open motion planning library [ , ] | ||
| bitbucket | OCS2 - Efficient continuous and discrete time optimal control implementation [ ] | ||
| github | 222 | 11 months ago | pymanoid - Humanoid robotics prototyping environment based on OpenRAVE [ ] |
| github | 351 | about 6 years ago | ROS Behavior Tree - [ ] |
| Ruckig | 747 | about 1 month ago | Real-time, time-optimal and jerk-constrained online trajectory generation. [ ] |
| The Kautham Project | A robot simulation toolkit for motion planning [ ] | ||
| TOPP-RA | Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [ ] | ||
| Ungar | 98 | 6 months ago | Expressive and efficient implementation of optimal control problems using template metaprogramming [ ] |
| github | 126 | over 3 years ago | TopiCo - Time-optimal Trajectory Generation and Control [ ] |
| towr | A light-weight, Eigen-based C++ library for trajectory optimization for legged robots [ ] | ||
| github | 343 | 10 months ago | TrajectoryOptimization - A fast trajectory optimization library written in Julia [ ] |
| trajopt | Framework for generating robot trajectories by local optimization [ ] | ||
| Cover-Tree | Cover tree data structure for quick k-nearest-neighbor search [ ] | ||
Awesome Robotics Libraries / Libraries / Motion Planning and Control / Cover-Tree | |||
| Faster cover trees | by Mike Izbicki et al., ICML 2015 | ||
Awesome Robotics Libraries / Libraries / Motion Planning and Control | |||
| FLANN | Fast Library for Approximate Nearest Neighbors [ ] | ||
| nanoflann | Nearest Neighbor search with KD-trees [ ] | ||
| libpointmatcher | Iterative Closest Point library for 2-D/3-D mapping in Robotics [ ] | ||
| github | 355 | about 5 years ago | Octree - Fast radius neighbor search with an Octree [ ] |
| OctoMap | Efficient Probabilistic 3D Mapping Framework Based on Octrees [ ] | ||
| PCL | 2D/3D image and point cloud processing [ ] | ||
| github | 688 | about 1 month ago | Treexy - Brutally fast, sparse, 3D Voxel Grid [ ] |
| github | 1,382 | 7 months ago | voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields [ ] |
| wavemap | Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping [ ] | ||
Awesome Robotics Libraries / Libraries / Motion Planning and Control / Utility Software | |||
| Goxel | Free and open source 3D voxel editor [ ] | ||
Awesome Robotics Libraries / Libraries / Optimization | |||
| CasADi | 1,778 | about 1 month ago | Symbolic framework for algorithmic differentiation and numeric optimization [ ] |
| Ceres Solver | Large scale nonlinear optimization library [ ] | ||
| github | 15 | about 1 month ago | eigen-qld - Interface to use the QLD QP solver with the Eigen3 library [ ] |
| EXOTica | Generic optimisation toolset for robotics platforms [ ] | ||
| github | 556 | about 1 month ago | hpipm - High-performance interior-point-method QP solvers (Ipopt, Snopt) [ ] |
| HYPRE | Parallel solvers for sparse linear systems featuring multigrid methods [ ] | ||
| github | 790 | over 1 year ago | ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt) [ ] |
| Ipopt | Large scale nonlinear optimization library [ ] | ||
| github | 324 | 8 months ago | libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm [ ] |
| limbo | Gaussian processes and Bayesian optimization of black-box functions [ ] | ||
| github | 24 | 4 months ago | lpsolvers - Linear Programming solvers in Python with a unified API [ ] |
| NLopt | Nonlinear optimization [ ] | ||
| OptimLib | Lightweight C++ library of numerical optimization methods for nonlinear functions [ ] | ||
| OSQP | The Operator Splitting QP Solver [ ] | ||
| Pagmo | Scientific library for massively parallel optimization [ ] | ||
| ProxSuite | The Advanced Proximal Optimization Toolbox [ ] | ||
| pymoo | Multi-objective Optimization in Python [ ] | ||
| github | 610 | about 2 months ago | qpsolvers - Quadratic Programming solvers in Python with a unified API [ ] |
| RobOptim | Numerical Optimization for Robotics. [ ] | ||
| SCS | Numerical optimization for solving large-scale convex cone problems [ ] | ||
| SHOT | A solver for mixed-integer nonlinear optimization problems [ ] | ||
| github | 163 | over 2 years ago | sferes2 - Evolutionary computation [ ] |
Awesome Robotics Libraries / Libraries / Robot Modeling | |||
| SDF | XML format that describes objects and environments for robot simulators, visualization, and control ( ) | ||
| urdf | XML format for representing a robot model [ ] | ||
| onshape-to-robot | 264 | 5 months ago | Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API [ ] |
| github | 716 | 7 months ago | phobos - Add-on for Blender creating URDF and SMURF robot models [ ] |
Awesome Robotics Libraries / Libraries / Robot Platform | |||
| AutoRally | High-performance testbed for advanced perception and control research [ ] | ||
| Linorobot | ROS compatible ground robots [ ] | ||
Awesome Robotics Libraries / Libraries / Robot Platform / Linorobot | |||
| Linorobot | 999 | over 1 year ago | onine - Service Robot based on and Braccio Arm [ ] |
Awesome Robotics Libraries / Libraries / Robot Platform | |||
| Micro-ROS for Arduino | 8 | 3 months ago | a fork available in the Library Manager |
| Rock | Software framework for robotic systems | ||
| ROS | Flexible framework for writing robot software [ ] | ||
| ROS 2 | 3,697 | about 1 month ago | Version 2.0 of the Robot Operating System (ROS) software stack [ ] |
| YARP | Communication and device interfaces applicable from humanoids to embedded devices [ ] | ||
Awesome Robotics Libraries / Libraries / SLAM | |||
| github | 238 | over 3 years ago | AprilSAM - Real-time smoothing and mapping [ ] |
| github | 7,207 | about 1 year ago | Cartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations [ ] |
| DSO | Novel direct and sparse formulation for Visual Odometry [ ] | ||
| github | ElasticFusion - Real-time dense visual SLAM system [ ] | ||
| fiducials | Simultaneous localization and mapping using fiducial markers [ ] | ||
| github | GTSAM - Smoothing and mapping (SAM) in robotics and vision [ ] | ||
| github | Kintinuous - Real-time large scale dense visual SLAM system [ ] | ||
| LSD-SLAM | Real-time monocular SLAM [ ] | ||
| github | ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras [ ] | ||
| RTAP-Map | RGB-D Graph SLAM approach based on a global Bayesian loop closure detector [ ] | ||
| SRBA | Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [ ] | ||
| Awesome SLAM Datasets | 1,730 | about 1 month ago | |
Awesome Robotics Libraries / Libraries / Vision | |||
| ViSP | Visual Servoing Platform [ ] | ||
| BundleTrack | 623 | over 1 year ago | 6D Pose Tracking for Novel Objects without 3D Models [ ] |
| se(3)-TrackNet | 391 | over 1 year ago | 6D Pose Tracking for Novel Objects without 3D Models [ ] |
Awesome Robotics Libraries / Libraries / Fluid | |||
| Fluid Engine Dev - Jet | Fluid simulation engine for computer graphics applications [ ] | ||
Awesome Robotics Libraries / Libraries / Multiphysics | |||
| Kratos | Framework for building parallel multi-disciplinary simulation software [ ] | ||
Awesome Robotics Libraries / Libraries / Math | |||
| github | 763 | 9 months ago | Fastor - Light-weight high performance tensor algebra framework in C++11/14/17 [ ] |
| github | 875 | over 1 year ago | linalg.h - Single header public domain linear algebra library for C++11 [ ] |
| github | 1,527 | 5 months ago | manif - Small c++11 header-only library for Lie theory. [ ] |
| github | 2,085 | 7 months ago | Sophus - Lie groups using Eigen [ ] |
| github | 71 | about 1 month ago | SpaceVelAlg - Spatial vector algebra with the Eigen3 [ ] |
Awesome Robotics Libraries / Libraries / ETC | |||
| github | 736 | about 1 month ago | fuse - General architecture for performing sensor fusion live on a robot [ ] |
| Foxglove Studio | – A fully integrated visualization and debugging desktop app for your robotics data. Combines functionality of tools like , , and more. Also available via | ||
Awesome Robotics Libraries / Other Awesome Lists | |||
| Awesome Robotics | 4,444 | 4 months ago | (Kiloreux) |
| Awesome Robotics | 1,026 | about 1 year ago | (ahundt) |
| Awesome Robotic Tooling | 3,322 | about 1 year ago | |
| Awesome Artificial Intelligence | 11,066 | 3 months ago | |
| Awesome Collision Detection | 895 | over 1 year ago | |
| Awesome Computer Vision | 21,139 | 8 months ago | |
| Awesome Machine Learning | 66,380 | about 1 month ago | |
| Awesome Deep Learning | 24,435 | 9 months ago | |
| Awesome Gazebo | 136 | almost 4 years ago | |
| Awesome Grasping | 87 | over 5 years ago | |
| Awesome Human Robot Interaction | 120 | almost 6 years ago | |
| PythonRobotics | 23,606 | about 1 month ago | Python sample codes for robotics algorithms |
| Robotics Coursework | 2,686 | about 3 years ago | A list of robotics courses you can take online |
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