Awesome Robotics Libraries

Python sample codes and textbook for robotics algorithms.

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.

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

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

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

🤖 Places where you can learn robotics (and stuff like that) online 🤖

Webots Robot Simulator

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

Model-based design and verification for robotics.

RTAB-Map library and standalone application

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

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

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

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

Massively parallel rigidbody physics simulation on accelerator hardware.

High-performance C++ library for multiphysics and multibody dynamics simulations

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

C++ implementation of Lie Groups using Eigen.

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

CUDA Accelerated Robot Library

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

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

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.

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.

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

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)

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

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

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

Blazing fast hexapod robot simulator for the web.

Software for the AutoRally platform

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.

[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

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

YARP - Yet Another Robot Platform

The Advanced Proximal Optimization Toolbox