Awesome Robotics Libraries

Python sample codes and textbook for robotics algorithms.

Simulation platform for general-purpose robotics & embodied AI learning.

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

Convert Machine Learning Code Between Frameworks

PyTorch version of Stable Baselines, reliable implementations of reinforcement learning algorithms.

A standard API for single-agent reinforcement learning environments, with popular reference environments and related utilities (formerly Gym)

High-quality single file implementation of Deep Reinforcement Learning algorithms with research-friendly features (PPO, DQN, C51, DDPG, TD3, SAC, PPG)

Unified framework for robot learning with multi-physics/renderer support

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

Dimensional is the agentic operating system for physical space. Command humanoids, quadrupeds, drones, and other hardware platforms in natural language and build multi-agent systems that work seamlessly with physical input (cameras, lidar, actuators).

NVIDIA Isaac Sim™ is an open-source application on NVIDIA Omniverse for developing, simulating, and testing AI-driven robots in realistic virtual environments.

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark

Isaac Gym Environments for Legged Robots

NSGA2, NSGA3, R-NSGA3, MOEAD, Genetic Algorithms (GA), Differential Evolution (DE), CMAES, PSO

NSGA2, NSGA3, R-NSGA3, MOEAD, Genetic Algorithms (GA), Differential Evolution (DE), CMAES, PSO

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

CUDA Accelerated Robot Library

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

Modular Reinforcement Learning (RL) library (implemented in PyTorch, JAX, and NVIDIA Warp) with support for Gymnasium/Gym, NVIDIA Isaac Lab, MuJoCo Playground and other environments

No description.

robotic motion planning library

An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.

Refer to https://github.com/AcutronicRobotics/gym-gazebo2 for the new version

Quadratic programming solvers in Python with a unified API

Create, manipulate and convert representations of position and orientation in 2D or 3D using Python

Converting Onshape assembly to robot definition (URDF, SDF, MuJoCo) through Onshape API

Efficient 6-DoF Grasp Generation in Cluttered Scenes

[IROS 2020] se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains

Multibody dynamics tool kit.

An open source framework for research in Embodied-AI from AI2.

Toolbox for our GraspNet-1Billion dataset.

Ptera Software is a fast, easy-to-use, and open-source software package for analyzing flapping-wing flight.

RelaxedIK Solver

Humanoid robotics prototyping environment based on OpenRAVE

Robopy is a python port for Robotics Toolbox in Matlab created by Peter Corke

A python package to solve robot arm inverse kinematics in symbolic form

Analytical inverse kinematics for 6R and 7R revolute arms. Returns every IK branch at machine-precision FK closure. Ships per-arm build artifacts; covers non-Pieper 6R and non-SRS 7R geometries.

Simple kinematics calculation toolkit for robotics

A lean, ROS-free sim-to-real framework for training and deploying Vision-Language-Action (VLA) models and RL agents. Native MuJoCo Gymnasium wrappers with synchronous execution for Franka, UR5e, xArm, SO101, YAM and Rizon.

Openai Gym with Dart support

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

A lightweight toolkit for quantitatively scoring LeRobot episodes.

A simulation package extending pybullet for industrial robot applications

Python package for inverse kinematic calculations of hybrid serial parallel robots

Linear programming solvers in Python with a unified API

AVIS Engine Python API