Awesome Robotics Libraries

Python sample codes and textbook for robotics algorithms.

Convert Machine Learning Code Between Frameworks

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

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

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

C++ implementation of Lie Groups using Eigen.

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python, Matlab/Octave, Julia or Javascript

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.

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

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

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

Multibody dynamics tool kit.

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

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

Humanoid robotics prototyping environment based on OpenRAVE

Multibody Dynamics Library designed for Free Floating Robots

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

Simulation framework for nonsmooth dynamical systems

Simple kinematics calculation toolkit for robotics

Python package for inverse kinematic calculations of hybrid serial parallel robots

Linear programming solvers in Python with a unified API