Awesome Robotics Libraries

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

Open-source simulator for autonomous driving research.

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)

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

mlpack: a fast, header-only C++ machine learning library

NVIDIA PhysX SDK

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.

A flexible, high-performance 3D simulator for Embodied AI research.

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

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

DyNet: The Dynamic Neural Network Toolkit

Massively parallel rigidbody physics simulation on accelerator hardware.

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

The Open Motion Planning Library (OMPL)

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics

A small C++11 header-only library for Lie theory.

An open-source platform for Visual AI.

Open source robotics simulator. The latest version of Gazebo.

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

Kratos Multiphysics (A.K.A Kratos) is a framework for building parallel multi-disciplinary simulation software. Modularity, extensibility and HPC are the main objectives. Kratos has BSD license and is written in C++ with extensive Python interface.

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

DART: Dynamic Animation and Robotics Toolkit

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

robotic motion planning library

Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library

Quadratic programming solvers in Python with a unified API

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

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

YARP - Yet Another Robot Platform

The Advanced Proximal Optimization Toolbox

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

Kris' Locomotion and Manipulation Planning Toolkit

Multibody dynamics tool kit.

ros2_medkit - diagnostics gateway for ROS 2 robots. Faults, live data, operations, scripts, locking, triggers, and OTA updates via REST API. No SSH, no custom tooling.

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

Multibody Dynamics Library designed for Free Floating Robots

Simulation framework for nonsmooth dynamical systems

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.

A solver for mixed-integer nonlinear optimization problems

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

A lightweight toolkit for quantitatively scoring LeRobot episodes.

Linear programming solvers in Python with a unified API