Awesome Robotics Libraries

library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization

The Operator Splitting QP Solver

The Open Motion Planning Library (OMPL)

:zap: The Mobile Robot Programming Toolkit (MRPT)

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

Fluid simulation engine for computer graphics applications

:robot: The MoveIt motion planning framework

CUDA Accelerated Robot Library

Real-time dense visual SLAM system

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.

COIN-OR Interior Point Optimizer IPOPT

Open source C++ physics engine library in 3D

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

2 and 3-dimensional rigid body physics engine for Rust.

Open source robotics simulator. The latest version of Gazebo.

Optimal Control for Switched Systems

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

RL implementations

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.

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

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

Real-time multi-physics simulation with an emphasis on medical simulation.

Main development repository for Rigs of Rods soft-body physics simulator

DART: Dynamic Animation and Robotics Toolkit

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.

Autonomous ground robots (2WD, 4WD, Ackermann Steering, Mecanum Drive)

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

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

No description.

Newton Dynamics is an integrated solution for real time simulation of physics environments.

Lightweight and Simple 3D Open Source Physics Engine in C++

linalg.h is a single header, public domain, short vector math library for C++

Real-time large scale dense visual SLAM system

robotic motion planning library

A C++ platform to perform parallel computations of optimisation tasks (global and local) via the asynchronous generalized island model.

Open Source Visual Servoing Platform

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

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

Orocos Kinematics and Dynamics C++ library

OptimLib: a lightweight C++ library of numerical optimization methods for nonlinear functions

Fast, hierarchical, sparse Voxel Grid

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

Parallel solvers for sparse linear systems featuring multigrid methods.

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

SAPIEN Embodied AI Platform