Awesome Robotics Libraries

A lightweight high performance tensor algebra framework for modern C++

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

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

No description.

Blazing fast hexapod robot simulator for the web.

Software for the AutoRally platform

Quadratic programming solvers in Python with a unified API

High-performance interior-point-method QP and QCQP solvers

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

Fast Deep Learning Library (DLL) for C++ (ANNs, CNNs, RBMs, DBNs...)

[IROS 2021] BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models

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

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

Splitting Conic Solver

Kinematics and Dynamics for Robotics

YARP - Yet Another Robot Platform

The Advanced Proximal Optimization Toolbox

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

Efficient 6-DoF Grasp Generation in Cluttered Scenes

Trajectory Optimization

A lightweight C++ machine learning library for embedded electronics and robotics.

Kris' Locomotion and Manipulation Planning Toolkit

A header-only C++ library for deep neural networks

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

Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2

Multibody dynamics tool kit.

A fast trajectory optimization library written in Julia

A three.js based 3D robot interface.

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

ROS 2 localization for outdoor robots: IMU, wheel encoders and GPS fused in a 23-state UKF at 100 Hz. When the estimate goes wrong it reports which sensor and why, instead of drifting silently. Apache 2.0.

Fast radius neighbor search with an Octree (ICRA 2015)

High-performance, time-indexed object storage for robotics and industrial IoT

libcmaes is a multithreaded C++11 library with Python bindings for high performance blackbox stochastic optimization using the CMA-ES algorithm for Covariance Matrix Adaptation Evolution Strategy

Toolbox for our GraspNet-1Billion dataset.

The Modular OpenRobots Simulation Engine

Behavior Trees Library for ROS (Robot Operating System). In C++ and python

This is the GitHub mirror for the LibrePilot source code. The main development is taking place at https://bitbucket.org/librepilot

Gaussian Process Motion Planner 2

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

A parallel, multi-engine simulator for heterogeneous swarm robotics

Julia implementation of various rigid body dynamics and kinematics algorithms

Fiducial markers for SLAM.

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.

A lightweight framework for Gaussian processes and Bayesian optimization of black-box functions (C++11)

RelaxedIK Solver

SLAM optimization algorithm

Artificial Intelligence for Kinematics, Dynamics, and Optimization

Humanoid robotics prototyping environment based on OpenRAVE