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192 repos shown

List: awesome-robotics-libraries

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artivis/manif

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

Stack

C++ pytest CMake PEP 517 pip

GitHub topics

#2d #3d #c-plus-plus #computer-vision #cpp11 #geometry

Updated: 2026-08-05
Lists: 1 list mention
First commit: 2018-04-16
History: 1 history point
License: MIT
Issues: 38 open

1,827

stars

Forks: 275
Commits: 805 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

allenai/ai2thor

An open-source platform for Visual AI.

Stack

C# Flask pytest .NET SDK npm PEP 517

GitHub topics

#artificial-intelligence #computer-vision #interaction #physics-engine #visual-ai

Updated: 2025-11-04
Lists: 1 list mention
First commit: 2017-11-03
History: 1 history point
License: Apache-2.0
Issues: 281 open

1,825

stars

Forks: 295
Commits: 7,768 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

coin-or/Ipopt

COIN-OR Interior Point Optimizer IPOPT

Stack

C++

Updated: 2026-10-10
Lists: 1 list mention
First commit: 2004-10-21
History: 1 history point
License: EPL-2.0
Issues: 13 open

1,795

stars

Forks: 318
Commits: 2,446 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

DanielChappuis/reactphysics3d

Open source C++ physics engine library in 3D

Stack

C++ CMake

GitHub topics

#animation #collision #collision-detection #game-development #physics-engine #reactphysics3d

Updated: 2025-03-28
Lists: 1 list mention
First commit: 2008-10-30
History: 1 history point
License: Zlib
Issues: 93 open

1,778

stars

Forks: 270
Commits: 1,990 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

ethz-adrl/control-toolbox

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

Stack

C++ CMake

GitHub topics

#automatic-differentiation #control-systems #cpp #disturbance-observer #extended-kalman-filter #ilqg

Updated: 2022-11-09
Lists: 1 list mention
First commit: 2017-05-27
History: 1 history point
License: BSD-2-Clause
Issues: 64 open

1,719

stars

Forks: 343
Commits: 1,871 commits
Star growth, last 7 days: 0 0.0%
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GitHub

ethz-asl/voxblox

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

Stack

C++ CMake pip

GitHub topics

#mapping #robotics #voxblox

Updated: 2024-07-01
Lists: 1 list mention
First commit: 2016-04-13
History: 1 history point
License: BSD-3-Clause
Issues: 77 open

1,679

stars

Forks: 396
Commits: 1,478 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

dimforge/nphysics

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

Stack

Rust Cargo

GitHub topics

#joints #physics #physics-engine #rigid-bodies

Updated: 2021-07-27
Lists: 1 list mention
First commit: 2013-05-14
History: 1 history point
License: Apache-2.0
Issues: 44 open

1,649

stars

Forks: 118
Commits: 918 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

gazebosim/gz-sim

Open source robotics simulator. The latest version of Gazebo.

Stack

C++ CMake PEP 517

GitHub topics

#cpp #gazebo #gazebosim #graphical-interface #hacktoberfest #ignition-gazebo

Updated: 2026-10-30
Lists: 1 list mention
First commit: 2014-04-07
History: 1 history point
License: Apache-2.0
Issues: 669 open

1,562

stars

Forks: 517
Commits: 7,643 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

leggedrobotics/ocs2

Optimal Control for Switched Systems

Stack

C++ CMake pip

GitHub topics

#control #mpc #optimal-control #robotics

Updated: 2026-09-29
Lists: 1 list mention
First commit: 2017-08-10
History: 1 history point
License: BSD-3-Clause
Issues: 54 open

1,533

stars

Forks: 327
Commits: 7,471 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

pantor/ruckig

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

Stack

C++ Cargo CMake PEP 517

GitHub topics

#jerk-constrained #motion-planning #optimal-control #robot-arm #robotics #time-optimal

Updated: 2026-09-29
Lists: 1 list mention
First commit: 2020-12-20
History: 1 history point
License: MIT
Issues: 26 open

1,425

stars

Forks: 271
Commits: 606 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

Denys88/rl_games

RL implementations

Stack

Jupyter Notebook pytest uv

GitHub topics

#deep-learning #pytorch #reinforcement-learning

Updated: 2026-10-29
Lists: 1 list mention
First commit: 2019-01-13
History: 1 history point
License: MIT
Issues: 54 open

1,409

stars

Forks: 222
Commits: 865 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

KratosMultiphysics/Kratos

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.

AI dev

Stack

C++ CMake PEP 517

GitHub topics

#bsd-license #c-plus-plus #dem #fem #kratos #kratos-multiphysics

Updated: 2026-10-31
Lists: 1 list mention
First commit: 2009-01-28
History: 1 history point
License: NOASSERTION
Issues: 764 open

1,390

stars

Forks: 311
Commits: 112,048 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

erwincoumans/tiny-differentiable-simulator

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

Stack

C++ CMake pip

Updated: 2026-10-30
Lists: 1 list mention
First commit: 2020-05-15
History: 1 history point
License: Apache-2.0
Issues: 12 open

1,376

stars

Forks: 139
Commits: 718 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

gazebosim/gazebo-classic

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

Archived

Stack

C++ CMake vcpkg

GitHub topics

#gazebo #gazebo-simulator #gui #hacktoberfest #physics #rendering

Updated: 2024-12-03
Lists: 1 list mention
First commit: 2007-01-24
History: 1 history point
License: NOASSERTION
Issues: 1,477 open

1,348

stars

Forks: 517
Commits: 32,589 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

loco-3d/crocoddyl

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

Stack

C++ CMake PEP 517

GitHub topics

#code-generation #conda #crocoddyl #differential-dynamic-programming #legged-robotics #model-predictive-control

Updated: 2026-10-26
Lists: 1 list mention
First commit: 2018-04-03
History: 1 history point
License: BSD-3-Clause
Issues: 20 open

1,322

stars

Forks: 216
Commits: 6,735 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

sofa-framework/sofa

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

Stack

C++ CMake

GitHub topics

#cpp #engine #framework #medical #physics #real-time

Updated: 2026-10-30
Lists: 1 list mention
First commit: 2005-12-08
History: 1 history point
License: LGPL-2.1
Issues: 455 open

1,295

stars

Forks: 369
Commits: 27,634 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

RigsOfRods/rigs-of-rods

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

Stack

C++ CMake Conan

GitHub topics

#airplanes #boats #cars #physics-simulation #sandbox-game #soft-bodies

Updated: 2026-10-30
Lists: 3 list mentions
First commit: 2012-06-11
History: 8 history points
License: GPL-3.0
Issues: 247 open

1,284

stars

Forks: 227
Commits: 6,800 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

dartsim/dart

DART: Dynamic Animation and Robotics Toolkit

AI dev

Stack

C++ pytest CMake PEP 517 pip

GitHub topics

#collision-detection #computer-animation #cpp17 #dynamics #gazebo #inverse-kinematics

Updated: 2026-10-31
Lists: 1 list mention
First commit: 2011-04-01
History: 1 history point
License: BSD-2-Clause
Issues: 12 open

1,223

stars

Forks: 306
Commits: 6,908 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

roboticslibrary/rl

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

Stack

C++ CMake

GitHub topics

#c-plus-plus #collision-detection #dynamics #hardware-abstraction #kinematics #motion-planning

Updated: 2025-04-15
Lists: 1 list mention
First commit: 2014-06-11
History: 1 history point
License: BSD-2-Clause
Issues: 54 open

1,210

stars

Forks: 244
Commits: 548 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

linorobot/linorobot

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

Stack

C++ CMake

GitHub topics

#2wd #4wd #ackermann #agv #autonomous #autonomous-vehicles

Updated: 2023-05-10
Lists: 1 list mention
First commit: 2016-02-21
History: 1 history point
License: BSD-2-Clause
Issues: 27 open

1,112

stars

Forks: 347
Commits: 217 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

ai-winter/python_motion_planning

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.

Stack

Python PEP 517 pip

GitHub topics

#a-star #artificial-potential-field #autonomous-vehicles #bezier-curve #d-star #d-star-lite

Updated: 2026-09-15
Lists: 1 list mention
First commit: 2023-02-07
History: 1 history point
License: GPL-3.0
Issues: 2 open

1,103

stars

Forks: 153
Commits: 174 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

Toni-SM/skrl

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

Stack

Python pytest PEP 517 pip

GitHub topics

#deep-learning #flax #gym #gymnasium #isaaclab #isaacsim

Updated: 2026-11-01
Lists: 3 list mentions
First commit: 2021-07-08
History: 11 history points
License: MIT
Issues: 41 open

1,101

stars

Forks: 163
Commits: 1,586 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

ethz-adrl/towr

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

Stack

C++ CMake

GitHub topics

#biped #collocation #computer-graphics #eigen #ifopt #ipopt

Updated: 2023-04-17
Lists: 1 list mention
First commit: 2014-10-24
History: 1 history point
License: BSD-3-Clause
Issues: 27 open

1,087

stars

Forks: 250
Commits: 1,639 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

graspnet/anygrasp_sdk

No description.

Stack

Python pip

Updated: 2026-07-13
Lists: 1 list mention
First commit: 2022-11-29
History: 1 history point
License: Unknown
Issues: 69 open

1,047

stars

Forks: 92
Commits: 41 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

MADEAPPS/newton-dynamics

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

Stack

HTML Android CMake .NET SDK Gradle

Updated: 2026-01-17
Lists: 1 list mention
First commit: 2013-05-06
History: 1 history point
License: NOASSERTION
Issues: 1 open

1,023

stars

Forks: 193
Commits: 16,713 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

RandyGaul/qu3e

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

Archived

Stack

C CMake

Updated: 2021-05-09
Lists: 1 list mention
First commit: 2014-10-13
History: 1 history point
License: Zlib
Issues: 12 open

993

stars

Forks: 128
Commits: 87 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

sgorsten/linalg

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

Stack

C++ CMake

Updated: 2023-07-02
Lists: 1 list mention
First commit: 2016-02-27
History: 1 history point
License: Unlicense
Issues: 6 open

973

stars

Forks: 74
Commits: 159 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

mp3guy/Kintinuous

Real-time large scale dense visual SLAM system

Stack

C++ CMake

GitHub topics

#cuda #reconstruction #slam

Updated: 2022-08-26
Lists: 1 list mention
First commit: 2015-10-22
History: 1 history point
License: NOASSERTION
Issues: 43 open

954

stars

Forks: 283
Commits: 17 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

hungpham2511/toppra

robotic motion planning library

Stack

Python pytest CMake PEP 517 pip

GitHub topics

#motion-planning #robotics #robotics-algorithms #topp

Updated: 2026-10-25
Lists: 1 list mention
First commit: 2017-07-13
History: 1 history point
License: MIT
Issues: 37 open

941

stars

Forks: 216
Commits: 1,135 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

esa/pagmo2

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

AI dev

Stack

C++ CMake

GitHub topics

#artificial-intelligence #evolutionary-algorithms #evolutionary-strategy #genetic-algorithm #metaheuristics #multi-objective-optimization

Updated: 2026-09-29
Lists: 1 list mention
First commit: 2015-07-05
History: 1 history point
License: GPL-3.0
Issues: 37 open

938

stars

Forks: 192
Commits: 4,780 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

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