Awesome Robotics Libraries

A curated list of robotics libraries and simulators.

Contents

• Libraries
  • Dynamics Simulation
  • Inverse Kinematics
  • Machine Learning
  • Motion Planning and Control
  • Optimization
  • Robot Modeling
  • Robot Platform
  • Reinforcement Learning for Robotics
  • SLAM
  • Vision
  • Fluid
  • Grasping
  • Humanoid Robotics
  • Multiphysics
  • Math
  • ETC
• Simulators
• Other Awesome Lists

Legend: 🟢 Active (<1yr) · 🟡 Slow (1-2yr) · 🔴 Stale (>2yr) · 💀 Archived

Libraries

Dynamics Simulation

Physics engines and rigid/soft body dynamics libraries. See also Comparisons.

• ARCSim - Adaptive remeshing cloth and shell simulator for thin deformable objects.
• 🟢 Brax - Massively parallel differentiable rigid body physics engine in JAX for robotics and RL. ⭐ 3k
• 🟢 Bullet - Real-time physics simulation for games, visual effects, and robotics. ⭐ 14.2k
• 🟢 CHRONO::ENGINE - Multi-physics simulation of rigid and flexible bodies, granular, and fluid systems. ⭐ 2.7k
• 🟢 DART - Dynamic Animation and Robotics Toolkit for multibody simulation and planning. ⭐ 1.1k
• 🟢 Drake - Planning, control, and analysis toolbox for nonlinear dynamical systems. ⭐ 3.9k
• 💀 Flex - GPU-based particle simulation for rigid bodies, fluids, and deformables. ⭐ 787
• 🔴 FROST - Fast Robot Optimization and Simulation Toolkit for hybrid dynamical systems in MATLAB. ⭐ 169
• 🟢 Genesis - Generative and universal physics platform for robotics with GPU-accelerated parallel simulation. ⭐ 28.1k
• IBDS - Impulse-based dynamics simulation for rigid bodies and particle systems.
• 🟢 idyntree - Library for estimation and whole-body dynamics of floating-base robots. ⭐ 223
• 🟢 KDL - Orocos Kinematics and Dynamics Library for kinematic chains. ⭐ 857
• 🟢 kindr - Kinematics and dynamics library for rigid body transformations. ⭐ 607
• 🟢 Klampt - Robot planning, control, and simulation with visualization support. ⭐ 427
• 🔴 LibrePilot - Open-source autopilot for UAVs and other autonomous vehicles. ⭐ 348
• 🟢 MARS - Machina Arte Robotum Simulans — a cross-platform simulation environment. ⭐ 67
• MBDyn - General-purpose multibody dynamics analysis software. [code]
• 🟢 MBSim - Multi-body simulation environment for flexible and rigid systems. ⭐ 51
• 🔴 MBSlib - Lightweight multibody system dynamics library. ⭐ 11
• 💀 metapod - Template-based robot dynamics library using spatial algebra. ⭐ 14
• 🔴 Moby - Multi-body dynamics simulation for rigid bodies with contact. ⭐ 37
• 🟢 mrpt - Mobile Robot Programming Toolkit for SLAM, navigation, and computer vision. ⭐ 2.1k
• 🟢 MuJoCo - Multi-joint dynamics with contact for physics-based simulation and control. ⭐ 11.9k
• 🟢 mvsim - Lightweight multi-vehicle 2D simulator with ROS integration. ⭐ 359
• 🟢 Newton - GPU-accelerated differentiable physics engine built on NVIDIA Warp for robotics simulation. ⭐ 2.5k
• 🟢 Newton Dynamics - Real-time physics engine for rigid body simulation. ⭐ 1k
• 🔴 nphysics - 2D and 3D rigid body physics engine written in Rust. ⭐ 1.6k
• ODE - Open Dynamics Engine for simulating rigid body dynamics. [bitbucket]
• 🟢 OpenRAVE - Open Robotics Automation Virtual Environment for planning and simulation. ⭐ 798
• 🟢 PhysX - NVIDIA physics engine for real-time rigid body and vehicle simulation. ⭐ 4.4k
• 🟢 pinocchio - Fast and flexible algorithms for rigid-body dynamics with analytical derivatives. ⭐ 3.1k
• 🟢 PositionBasedDynamics - Position-based methods for simulating deformable objects and fluids. ⭐ 2.2k
• 🟢 PyDy - Multibody dynamics analysis with symbolic Python using SymPy. ⭐ 405
• 💀 qu3e - Lightweight 3D physics engine for rigid body dynamics. ⭐ 974
• 💀 RaiSim - Cross-platform physics engine for robotics and reinforcement learning. ⭐ 329
• 🟢 RBDL - Rigid Body Dynamics Library based on Featherstone algorithms. ⭐ 683
• 🟢 RBDyn - Rigid body dynamics algorithms using spatial algebra with Eigen. ⭐ 211
• 🟢 ReactPhysics3d - Open-source 3D physics engine for rigid body simulation and collision detection. ⭐ 1.7k
• 🟡 RigidBodyDynamics.jl - Julia library for rigid body dynamics algorithms. ⭐ 307
• 🟢 Rigs of Rods - Soft-body vehicle simulator using beam physics. ⭐ 1.1k
• 🔴 Robopy - Python robotics toolbox inspired by Peter Corke’s Robotics Toolbox. ⭐ 228
• 🟢 Robotics Library - Self-contained C++ library for robot kinematics, planning, and control. ⭐ 1.2k
• RobWork - Framework for simulation and control of robot systems. [gitlab]
• 🟢 siconos - Nonsmooth dynamical systems modeling and simulation platform. ⭐ 182
• 🟢 Simbody - Multibody dynamics library for biomechanical and mechanical systems. ⭐ 2.5k
• 🟢 SOFA - Simulation Open Framework Architecture for medical and physics simulation. ⭐ 1.1k
• 🟡 Tiny Differentiable Simulator - Header-only differentiable physics engine for robotics. ⭐ 1.3k
• 🔴 trep - Simulation and optimal control using variational integrators. ⭐ 20

Inverse Kinematics

Libraries for computing joint configurations from end-effector poses.

• 🟢 IKBT - A python package to solve robot arm inverse kinematics in symbolic form. ⭐ 215
• 🟢 Kinpy - A simple pure python package to solve inverse kinematics. ⭐ 179
• 🔴 Lively - A highly configurable toolkit for commanding robots in mixed modalities. ⭐ 7
• 🔴 RelaxedIK - Real-time Synthesis of Accurate and Feasible Robot Arm Motion. ⭐ 235
• 🔴 Trip - A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots. ⭐ 44

Machine Learning

Machine learning frameworks and tools applied to robotics.

• 🟢 AllenAct - Python/PyTorch-based Research Framework for Embodied AI. ⭐ 376
• 🟢 Any4LeRobot - A collection of utilities and tools for LeRobot. ⭐ 838
• 🟢 DLL - Deep Learning Library (DLL) for C++. ⭐ 687
• 🔴 DyNet - The Dynamic Neural Network Toolkit. ⭐ 3.4k
• 🔴 Fido - Lightweight C++ machine learning library for embedded electronics and robotics. ⭐ 462
• 🟢 Gymnasium - Developing and comparing reinforcement learning algorithms. ⭐ 11.2k
  • 🔴 gym-dart - OpenAI Gym environments using the DART physics engine. ⭐ 141
  • 💀 gym-gazebo - OpenAI Gym environments for the Gazebo simulator. ⭐ 845
• 🟢 Ivy - Unified Machine Learning Framework. ⭐ 14.2k
• 🟢 LeRobot - Pretrained models, datasets, and simulation environments for real-world robotics in PyTorch. ⭐ 21.4k
• 🟢 LeRobot Episode Scoring Toolkit - One-click tool to score, filter, and export higher-quality LeRobot datasets. ⭐ 48
• 🔴 MiniDNN - A header-only C++ library for deep neural networks. ⭐ 431
• 🟢 mlpack - Scalable C++ machine learning library. ⭐ 5.6k
• 🔴 RLLib - Temporal-difference learning algorithms in reinforcement learning. ⭐ 208
• 🟢 robosuite - A modular simulation framework and benchmark for robot learning. ⭐ 2.2k
• 🔴 tiny-dnn - Header only, dependency-free deep learning framework in C++14. ⭐ 6k

Motion Planning and Control

Libraries for robot motion planning, trajectory optimization, and control.

• 🔴 AIKIDO - Solving robotic motion planning and decision making problems. ⭐ 228
• 🟢 Bioptim - Bioptim, a Python Framework for Musculoskeletal Optimal Control in Biomechanics. ⭐ 113
• 🔴 Control Toolbox - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control. ⭐ 1.7k
• 🟢 Crocoddyl - Optimal control library for robot control under contact sequence. ⭐ 1.2k
• 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. ⭐ 1.3k
• 🟢 Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles. ⭐ 745
• 🔴 GPMP2 - Gaussian Process Motion Planner 2. ⭐ 351
• HPP - Path planning for kinematic chains in environments cluttered with obstacles.
• 🟢 MoveIt! - Motion planning framework. ⭐ 2k
• 🟢 OCS2 - Efficient continuous and discrete time optimal control implementation. ⭐ 1.3k
• 🟢 OMPL - Open motion planning library. ⭐ 1.9k
• 💀 pymanoid - Humanoid robotics prototyping environment based on OpenRAVE. ⭐ 232
• 🔴 ROS Behavior Tree - Behavior tree implementation for ROS-based robot task planning. ⭐ 362
• 🟢 Ruckig - Real-time, time-optimal and jerk-constrained online trajectory generation. ⭐ 1.1k
• 🟢 The Kautham Project - A robot simulation toolkit for motion planning. ⭐ 24
• 🟢 TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints. ⭐ 830
• 🟡 Ungar - Expressive and efficient implementation of optimal control problems using template metaprogramming. ⭐ 109

Motion Optimizer

• 🔴 TopiCo - Time-optimal Trajectory Generation and Control. ⭐ 143
• 🔴 towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. ⭐ 1k
• 🟢 TrajectoryOptimization - A fast trajectory optimization library written in Julia. ⭐ 386
• 🔴 trajopt - Framework for generating robot trajectories by local optimization. ⭐ 449

Nearest Neighbor

• 🔴 Cover-Tree - Cover tree data structure for quick k-nearest-neighbor search. ⭐ 64
  • Faster cover trees - by Mike Izbicki et al., ICML 2015.
• 🟡 FLANN - Fast Library for Approximate Nearest Neighbors. ⭐ 2.4k
• 🟢 nanoflann - Nearest Neighbor search with KD-trees. ⭐ 2.6k

3D Mapping

• 🟢 Bonxai - Brutally fast, sparse, 3D Voxel Grid (formerly Treexy). ⭐ 810
• 🟢 Goxel - Free and open source 3D voxel editor. ⭐ 3.1k
• 🟢 libpointmatcher - Iterative Closest Point library for 2-D/3-D mapping in Robotics. ⭐ 1.8k
• 🟢 OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees. ⭐ 2.3k
• 🔴 Octree - Fast radius neighbor search with an Octree. ⭐ 374
• 🟢 PCL - 2D/3D image and point cloud processing. ⭐ 10.8k
• Utility Software
• 🟡 voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields. ⭐ 1.6k
• 🟡 wavemap - Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping. ⭐ 551

Optimization

Numerical optimization solvers and frameworks used in robotics.

• 🟢 CasADi - Symbolic framework for algorithmic differentiation and numeric optimization. ⭐ 2.1k
• 🟢 Ceres Solver - Large scale nonlinear optimization library. ⭐ 4.4k
• 🟢 eigen-qld - Interface to use the QLD QP solver with the Eigen3 library. ⭐ 16
• 🟡 EXOTica - Generic optimisation toolset for robotics platforms. ⭐ 161
• 🟢 hpipm - High-performance interior-point-method QP solvers (Ipopt, Snopt). ⭐ 665
• 🟢 HYPRE - Parallel solvers for sparse linear systems featuring multigrid methods. ⭐ 812
• 🟢 ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt). ⭐ 847
• 🟢 Ipopt - Large scale nonlinear optimization library. ⭐ 1.7k
• 🟢 libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm. ⭐ 354
• 🔴 limbo - Gaussian processes and Bayesian optimization of black-box functions. ⭐ 260
• 🟢 lpsolvers - Linear Programming solvers in Python with a unified API. ⭐ 25
• 🟢 NLopt - Nonlinear optimization. ⭐ 2.2k
• 🟡 OptimLib - Lightweight C++ library of numerical optimization methods for nonlinear functions. ⭐ 885
• 🟢 OSQP - The Operator Splitting QP Solver. ⭐ 2.1k
• 🟢 Pagmo - Scientific library for massively parallel optimization. ⭐ 907
• 🟢 ProxSuite - The Advanced Proximal Optimization Toolbox. ⭐ 538
• 🔴 pymoo - Multi-objective Optimization in Python. ⭐ 26
• 🟢 qpsolvers - Quadratic Programming solvers in Python with a unified API. ⭐ 725
• 🟢 RobOptim - Numerical Optimization for Robotics. ⭐ 65
• 🟢 SCS - Numerical optimization for solving large-scale convex cone problems. ⭐ 613
• 🔴 sferes2 - Evolutionary computation. ⭐ 170
• 🟢 SHOT - A solver for mixed-integer nonlinear optimization problems. ⭐ 129

Robot Modeling

Tools and formats for describing robot models.

Robot Model Description Format

• SDF - XML format that describes objects and environments for robot simulators, visualization, and control. [bitbucket]
• 🟢 urdf - XML format for representing a robot model. ⭐ 118

Utility to Build Robot Models

• 🟢 onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API. ⭐ 486
• 🟢 phobos - Add-on for Blender creating URDF and SMURF robot models. ⭐ 855

Robot Platform

Middleware and frameworks for building robot software systems.

• 🔴 AutoRally - High-performance testbed for advanced perception and control research. ⭐ 775
• 🔴 Linorobot - ROS compatible ground robots. ⭐ 1.1k
  • 🔴 onine - Service Robot based on Linorobot and Braccio Arm. ⭐ 47
• 🟡 Micro-ROS for Arduino - a Micro-ROS fork available in the Arduino Library Manager. ⭐ 12
• Rock - Software framework for robotic systems.
• ROS - Flexible framework for writing robot software.
• 🟢 ROS 2 - Version 2.0 of the Robot Operating System (ROS) software stack. ⭐ 5k
• 🟢 YARP - Communication and device interfaces applicable from humanoids to embedded devices. ⭐ 585

Reinforcement Learning for Robotics

Reinforcement learning libraries commonly used in robotic control.

• 🟢 Brax - Massively parallel differentiable rigid body physics engine in JAX for robotics and RL. ⭐ 3k
• 🟢 CleanRL - Single-file implementations of deep reinforcement learning algorithms. ⭐ 9k
• 🟢 Isaac Lab - GPU-accelerated open-source framework for robot learning built on NVIDIA Isaac Sim. ⭐ 6.2k
• 🟢 rl_games - High-performance RL library used in Isaac Gym environments. ⭐ 1.3k
• 🟢 SKRL - Modular reinforcement learning library with support for multiple ML frameworks. ⭐ 982
• 🟢 Stable-Baselines3 - Reliable implementations of reinforcement learning algorithms in PyTorch. ⭐ 12.7k

SLAM

Simultaneous Localization and Mapping libraries.

• 🔴 AprilSAM - Real-time smoothing and mapping. ⭐ 239
• 🔴 Cartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations. ⭐ 7.8k
• 🟡 DSO - Novel direct and sparse formulation for Visual Odometry. ⭐ 2.4k
• 🟢 ElasticFusion - Real-time dense visual SLAM system. ⭐ 1.9k
• 🟢 fiducials - Simultaneous localization and mapping using fiducial markers. ⭐ 278
• 🟢 GTSAM - Smoothing and mapping (SAM) in robotics and vision. ⭐ 3.3k
• 🔴 Kintinuous - Real-time large scale dense visual SLAM system. ⭐ 951
• 🔴 LSD-SLAM - Real-time monocular SLAM. ⭐ 2.7k
• 🟡 ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras. ⭐ 10.1k
• 🟢 RTAP-Map - RGB-D Graph SLAM approach based on a global Bayesian loop closure detector. ⭐ 3.6k
• 🔴 SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies. ⭐ 76

SLAM Dataset

• 🟡 Awesome SLAM Datasets - Curated list of SLAM-related datasets. ⭐ 1.9k

Vision

Computer vision libraries for robotic perception.

• 🔴 BundleTrack - 6D Pose Tracking for Novel Objects without 3D Models. ⭐ 678
• 🔴 se(3)-TrackNet - 6D Pose Tracking for Novel Objects without 3D Models. ⭐ 420
• 🟢 ViSP - Visual Servoing Platform. ⭐ 849

Fluid

Fluid dynamics simulation libraries.

• 🔴 Fluid Engine Dev - Jet - Fluid simulation engine for computer graphics applications. ⭐ 2.1k

Grasping

Libraries and tools for robotic grasping and manipulation.

• 🟢 AnyGrasp SDK - SDK for AnyGrasp, a 6-DoF grasp pose detection method. ⭐ 752
• 🟡 Contact-GraspNet - 6-DoF grasp generation for parallel-jaw grippers using contact maps. ⭐ 449
• 🔴 GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs. ⭐ 207
• 🟢 GraspNet API - Python API and evaluation tools for the GraspNet benchmark. ⭐ 323

Humanoid Robotics

Environments and models for humanoid robot research.

• 🟡 Humanoid-Gym - Reinforcement learning environment for humanoid robot locomotion. ⭐ 1.8k
• 🟢 iCub - Open-source cognitive humanoid robotic platform for embodied cognition research. ⭐ 117
• 🟢 Legged Gym - Isaac Gym environments for legged robot locomotion training. ⭐ 2.7k
• 🟢 MuJoCo Menagerie - Collection of well-tuned MuJoCo models for research and development. ⭐ 3k

Multiphysics

Frameworks for coupled multi-physics simulations.

• 🟢 Kratos - Framework for building parallel multi-disciplinary simulation software. ⭐ 1.2k

Math

Mathematics libraries for spatial algebra, Lie groups, and linear algebra.

• 🟢 Fastor - Light-weight high performance tensor algebra framework in C++11/14/17. ⭐ 830
• 🔴 linalg.h - Single header public domain linear algebra library for C++11. ⭐ 939
• 🟢 manif - Small c++11 header-only library for Lie theory. ⭐ 1.7k
• 🟡 Sophus - Lie groups using Eigen. ⭐ 2.4k
• 🟢 SpaceVelAlg - Spatial vector algebra with the Eigen3. ⭐ 80
• 🟢 spatialmath-python - Python classes for pose and orientation in 2D/3D with spatial operations toolbox. ⭐ 615

ETC

Other robotics-related tools and utilities.

• Foxglove Studio - A fully integrated visualization and debugging desktop app for your robotics data.
• 🟢 fuse - General architecture for performing sensor fusion live on a robot. ⭐ 847

Simulators

Simulation environments for testing and developing robotic systems.

Free or Open Source

• 🟢 AI2-THOR - Interactive household environment for embodied AI with Unity backend. ⭐ 1.7k
• 🟢 AirSim - Simulator based on Unreal Engine for autonomous vehicles. ⭐ 17.9k
• 🟢 ARGoS - Physics-based simulator designed to simulate large-scale robot swarms. ⭐ 301
• 🟢 ARTE - Matlab toolbox focussed on robotic manipulators. ⭐ 101
• 🟢 AVIS Engine - Fast simulation software for autonomous vehicle development. ⭐ 21
• 🟢 CARLA - Open-source simulator for autonomous driving research. ⭐ 13.5k
• 🟢 CoppeliaSim - Formaly V-REP. Virtual robot experimentation platform. ⭐ 138
• 💀 Gazebo - Dynamic multi-robot simulator. ⭐ 1.3k
• 🟢 Gazebo Sim - Open source robotics simulator (formerly Ignition Gazebo). ⭐ 1.2k
• 🔴 GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs. ⭐ 207
• 🟢 Habitat-Sim - Simulation platform for research in embodied artificial intelligence. ⭐ 3.5k
• 🟢 Hexapod Robot Simulator - Open-source hexapod robot inverse kinematics and gaits visualizer. ⭐ 681
• 🟢 Isaac Sim - NVIDIA’s GPU-accelerated robotics simulation platform with PhysX 5 and RTX rendering. ⭐ 2.5k
• 🟢 ManiSkill - Robot simulation and manipulation learning package powered by SAPIEN. ⭐ 2.5k
• 🔴 MORSE - Modular open robots simulation engine. ⭐ 370
• Neurorobotics Platform - Internet-accessible simulation of robots controlled by spiking neural networks. [bitbucket]
• 🟢 PyBullet - An easy to use simulator for robotics and deep reinforcement learning. ⭐ 14.2k
• 🟢 PyBullet_Industrial - PyBullet extension for simulating robotic manufacturing processes like milling and 3D printing. ⭐ 48
• 🔴 Robot Gui - A three.js based 3D robot interface. ⭐ 384
• 🟢 SAPIEN - Physics-rich simulation environment for articulated objects and manipulation. ⭐ 714
• Simbad - Java 3D robot simulator with custom controller and sensor support.
• 🟡 Unity - Game engine with open-source robotics simulation tools and tutorials. ⭐ 2.5k
• 🟢 Webots - Development environment to model, program, and simulate robots and mechanical systems. ⭐ 4.1k

Commercial

• Actin Simulation - Real-time robot simulation and control software.
• Artiminds - Planning, programming, operation, analysis and optimization.
• Kineo - Path planning and trajectory optimization for industrial robotics.
• Robot Virtual Worlds - Virtual reality software for educational robotics.
• RobotDK - Simulation and OLP for robots.
• RobotStudio - ABB’s simulation and offline programming software for robotics.
• Virtual Robotics Toolkit - 3D virtual environment for programming and testing robots.
• Visual Components - 3D manufacturing simulation and visualization platform.

Cloud

• AWS RoboMaker - Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale.

Other Awesome Lists

Related curated lists of robotics and AI resources.

• Awesome Robotics - Curated list of robotics resources (Kiloreux).
• Awesome Robotics - Curated list of robotics links and software libraries (ahundt).
• Awesome Robotic Tooling - Tooling for professional robotic development in C++ and Python with ROS and autonomous driving.
• Awesome Artificial Intelligence - Curated list of AI courses, books, video lectures, and papers.
• Awesome Collision Detection - Curated list of collision detection libraries and resources.
• Awesome Computer Vision - Curated list of computer vision resources.
• Awesome Machine Learning - Curated list of machine learning frameworks, libraries, and software.
• Awesome Deep Learning - Curated list of deep learning tutorials, projects, and communities.
• Awesome Gazebo - Curated list of Gazebo simulation framework resources.
• Awesome Grasping - Curated list of grasping libraries and resources.
• Awesome Human Robot Interaction - Curated list of human-robot interaction libraries and resources.
• Awesome Physical AI - Curated list of academic papers and resources on Physical AI.
• PythonRobotics - Python sample codes for robotics algorithms.
• Robotics Coursework - A list of robotics courses you can take online.

Contributing

Contributions are very welcome! Please read the contribution guidelines first. Also, please feel free to report any error.

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