Awesome List

Awesome Robotics Libraries

:sunglasses: A curated list of robotics libraries and software

jslee02/awesome-robotics-libraries #awesome #awesome-list #machine-learning #motion-planning #multibody-dynamics #optimization #robotics #robotics-libraries #robotics-library #robotics-simulation #simulation #slam

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List stars: 3,100
README repos: 207
Indexed repos: 192
List commits: 415
Forks: 503
Open issues: 7

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125 repos matching these filters.

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personalrobotics/aikido

Artificial Intelligence for Kinematics, Dynamics, and Optimization

Stack

C++ CMake

GitHub topics

#motion-planning #perception #robot-control #robotics #ros

Updated: 2023-03-10
Lists: 1 list mention
First commit: 2014-11-15
License: BSD-3-Clause
Issues: 99 open

237

stars

Forks: 30
Commits: 1,271 commits
Star growth, last 7 days: 0 0.0%
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Website GitHub

gbionics/idyntree

Multibody Dynamics Library designed for Free Floating Robots

Stack

C++ CMake PEP 517 pip

GitHub topics

#cxx #dynamics #floating-base #free-floating #multibody-dynamics #python

Updated: 2026-10-13
Lists: 1 list mention
First commit: 2013-05-02
License: BSD-3-Clause
Issues: 198 open

234

stars

Forks: 73
Commits: 3,446 commits
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GitHub

jrl-umi3218/RBDyn

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

Stack

C++ CMake

Updated: 2026-10-25
Lists: 1 list mention
First commit: 2012-03-16
License: BSD-2-Clause
Issues: 14 open

227

stars

Forks: 53
Commits: 748 commits
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GitHub

graspit-simulator/graspit

The GraspIt! simulator

Stack

C++ CMake

GitHub topics

#grasping #robotics #simulator

Updated: 2021-04-19
Lists: 1 list mention
First commit: 2010-10-01
License: NOASSERTION
Issues: 36 open

222

stars

Forks: 87
Commits: 733 commits
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Website GitHub

samindaa/RLLib

C++ Template Library to Predict, Control, Learn Behaviors, and Represent Learnable Knowledge using On/Off Policy Reinforcement Learning

Stack

C++ CMake

Updated: 2016-08-15
Lists: 1 list mention
First commit: 2012-08-22
License: Unknown
Issues: 13 open

211

stars

Forks: 52
Commits: 321 commits
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Website GitHub

personalrobotics/ssik

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.

Stack

Python pytest CMake uv

Updated: 2026-10-14
Lists: 1 list mention
First commit: 2026-04-19
License: BSD-3-Clause
Issues: 65 open

194

stars

Forks: 17
Commits: 382 commits
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GitHub

siconos/siconos

Simulation framework for nonsmooth dynamical systems

Stack

C pytest CMake npm PEP 517

GitHub topics

#bouncing-ball #complementarity-solvers #impact #mcp #nonsmooth-dynamical-systems #numerical-calculations

Updated: 2026-10-29
Lists: 1 list mention
First commit: 2005-03-24
License: Apache-2.0
Issues: 6 open

188

stars

Forks: 35
Commits: 11,274 commits
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Website GitHub

RobotControlStack/robot-control-stack

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.

Stack

Python Jupyter pytest CMake PEP 517 pip

GitHub topics

#franka #gymnasium #mujoco #reinforcement-learning #robot-learning #robot-manipulation

Updated: 2026-10-30
Lists: 1 list mention
First commit: 2024-01-04
License: AGPL-3.0
Issues: 14 open

170

stars

Forks: 24
Commits: 1,760 commits
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Website GitHub

ipab-slmc/exotica

Extensible Optimization Framework

Stack

C++ CMake pip

GitHub topics

#collision-free #exotica #motion-solver #optimal-control #ros #trajectory-optimization

Updated: 2026-10-14
Lists: 1 list mention
First commit: 2015-03-09
License: BSD-3-Clause
Issues: 57 open

165

stars

Forks: 69
Commits: 3,506 commits
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Website GitHub

CoppeliaRobotics/coppeliaSimLib

CoppeliaSim core library

Stack

C++ CMake

Updated: 2026-10-29
Lists: 1 list mention
First commit: 2019-09-27
License: NOASSERTION
Issues: 1 open

152

stars

Forks: 45
Commits: 1,408 commits
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GitHub

AIS-Bonn/TopiCo

Time-optimal Trajectory Generation and Control

Stack

C++ CMake

Updated: 2021-07-12
Lists: 1 list mention
First commit: 2018-10-23
License: BSD-3-Clause
Issues: 6 open

146

stars

Forks: 35
Commits: 27 commits
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GitHub

ros/urdfdom

URDF parser

Stack

C++ CMake

Updated: 2026-10-22
Lists: 1 list mention
First commit: 2009-09-04
License: NOASSERTION
Issues: 54 open

138

stars

Forks: 152
Commits: 842 commits
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Website GitHub

coin-or/SHOT

A solver for mixed-integer nonlinear optimization problems

AI dev

Stack

C++ CMake PEP 517 pip

GitHub topics

#global-optimization #minlp #optimization #optimization-library #optimization-methods #solver

Updated: 2026-11-01
Lists: 1 list mention
First commit: 2015-04-28
License: EPL-2.0
Issues: 0 open

135

stars

Forks: 27
Commits: 2,588 commits
Star growth, last 7 days: 0 0.0%
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Website GitHub

robotology/icub-main

The iCub Main Software Repository

Stack

C++ CMake

GitHub topics

#humanoids #icub #robot #robotics #robotics-libraries

Updated: 2026-10-30
Lists: 1 list mention
First commit: 2008-03-03
License: NOASSERTION
Issues: 19 open

121

stars

Forks: 107
Commits: 18,528 commits
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GitHub

fdevinc/ungar

Simplifying optimal control with metaprogramming

Stack

C++ CMake

Updated: 2024-07-16
Lists: 1 list mention
First commit: 2023-03-14
License: Apache-2.0
Issues: 5 open

109

stars

Forks: 13
Commits: 84 commits
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GitHub

jrl-umi3218/SpaceVecAlg

Implementation of spatial vector algebra with the Eigen3 linear algebra library.

Stack

C++ CMake Conan

GitHub topics

#math #robotics

Updated: 2026-10-25
Lists: 1 list mention
First commit: 2012-01-27
License: BSD-2-Clause
Issues: 5 open

stars

Forks: 27
Commits: 330 commits
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Website GitHub

MRPT/srba

[Prefer the newer MOLAorg/mola project] C++ framework for relative SLAM: Sparser Relative Bundle Adjustment (SRBA)

Stack

C++ CMake

GitHub topics

#bundle-adjustment #graph-slam #mobile-robotics #rba #slam

Updated: 2018-09-30
Lists: 1 list mention
First commit: 2013-01-10
License: Unknown
Issues: 6 open

stars

Forks: 37
Commits: 299 commits
Star growth, last 7 days: 0 0.0%
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Website GitHub

rock-simulation/mars

MARS is a cross-platform simulation and visualisation tool created for robotics research.

Stack

C++ CMake

Updated: 2025-09-01
Lists: 1 list mention
First commit: 2012-08-07
License: Unknown
Issues: 30 open

stars

Forks: 43
Commits: 2,426 commits
Star growth, last 7 days: 0 0.0%
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Website GitHub

roboptim/roboptim-core

RobOptim Core Layer: interface and basic mathematical tools

Stack

C++ CMake

GitHub topics

#c-plus-plus #nonlinear #numerical-optimization #roboptim #scientific-computing

Updated: 2025-03-21
Lists: 1 list mention
First commit: 2009-03-24
License: LGPL-3.0
Issues: 11 open

stars

Forks: 38
Commits: 1,340 commits
Star growth, last 7 days: 0 0.0%
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Website GitHub

grassjelly/onine

ROS based service robot

Stack

C++ CMake

GitHub topics

#agv #autonomous #moveit #robotic-arm #robotics #ros

Updated: 2018-09-19
Lists: 1 list mention
First commit: 2017-08-27
License: Unknown
Issues: 1 open

stars

Forks: 8
Commits: 141 commits
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GitHub

PositronicsLab/Moby

The Moby rigid body dynamics simulator

Stack

C++ CMake

Updated: 2021-11-26
Lists: 1 list mention
First commit: 2012-08-27
License: Unknown
Issues: 2 open

stars

Forks: 13
Commits: 1,974 commits
Star growth, last 7 days: 0 0.0%
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GitHub

iocroblab/kautham

The Kautham project

Stack

C++ CMake pip

Updated: 2026-07-24
Lists: 1 list mention
First commit: 2010-11-25
License: Unknown
Issues: 0 open

stars

Forks: 6
Commits: 2,546 commits
Star growth, last 7 days: 0 0.0%
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GitHub

jrl-umi3218/eigen-qld

eigen-qld allow to use the QLD QP solver with the Eigen3 library.

Stack

C CMake Conan

Updated: 2026-10-12
Lists: 1 list mention
First commit: 2015-08-11
License: BSD-2-Clause
Issues: 1 open

stars

Forks: 14
Commits: 155 commits
Star growth, last 7 days: 0 0.0%
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GitHub

laas/metapod

A template-based robot dynamics library

Archived

Stack

C++ CMake

Updated: 2018-09-10
Lists: 1 list mention
First commit: 2012-02-28
License: LGPL-3.0
Issues: 9 open

stars

Forks: 10
Commits: 495 commits
Star growth, last 7 days: 0 0.0%
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GitHub

SIM-TU-Darmstadt/mbslib

MBSlib: Multibody systems library

Stack

C++ CMake

Updated: 2016-08-17
Lists: 1 list mention
First commit: 2015-09-17
License: LGPL-3.0
Issues: 0 open

stars

Forks: 2
Commits: 19 commits
Star growth, last 7 days: 0 0.0%
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GitHub

Activity

Default branch: main
Last pushed: 2026-10-26
GitHub updated: 2026-11-01
Created: 2016-04-16
First commit: 2016-04-16
Last scanned: 2026-11-01 10:50
Watchers: 108

Indexed repo mix

Repo stars: 472,343
Repo forks: 107,205
Active: 185
Archived: 7

Languages

C++ (111) Python (48) C (14) Rust (4) Jupyter Notebook (3) C# (2) JavaScript (2) Julia (2) MATLAB (2) HTML (1)

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