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192 repos shown

List: awesome-robotics-libraries

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gbionics/idyntree

Multibody Dynamics Library designed for Free Floating Robots

Stack

C++ CMake PEP 517 pip

GitHub topics

#cxx #dynamics #floating-base #free-floating #multibody-dynamics #python

Updated: 2026-10-13
Lists: 1 list mention
First commit: 2013-05-02
History: 1 history point
License: BSD-3-Clause
Issues: 198 open

234

stars

Forks: 73
Commits: 3,446 commits
Star growth, last 7 days: 0 0.0%
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GitHub

adityadua24/robopy

Robopy is a python port for Robotics Toolbox in Matlab created by Peter Corke

Stack

Python pip

GitHub topics

#graphical-models #inverse-kinematics #kinematics #python #robotics #robotics-toolbox

Updated: 2021-02-10
Lists: 1 list mention
First commit: 2017-05-08
History: 1 history point
License: MIT
Issues: 6 open

229

stars

Forks: 46
Commits: 232 commits
Star growth, last 7 days: 0 0.0%
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GitHub

jrl-umi3218/RBDyn

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

Stack

C++ CMake

Updated: 2026-10-25
Lists: 1 list mention
First commit: 2012-03-16
History: 1 history point
License: BSD-2-Clause
Issues: 14 open

227

stars

Forks: 53
Commits: 748 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

graspit-simulator/graspit

The GraspIt! simulator

Stack

C++ CMake

GitHub topics

#grasping #robotics #simulator

Updated: 2021-04-19
Lists: 1 list mention
First commit: 2010-10-01
History: 1 history point
License: NOASSERTION
Issues: 36 open

222

stars

Forks: 87
Commits: 733 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

uw-biorobotics/IKBT

A python package to solve robot arm inverse kinematics in symbolic form

AI dev

Stack

Python

GitHub topics

#ai #kinematics #math #python #robotics #symbolic

Updated: 2026-11-01
Lists: 1 list mention
First commit: 2017-09-21
History: 1 history point
License: NOASSERTION
Issues: 4 open

221

stars

Forks: 36
Commits: 416 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

samindaa/RLLib

C++ Template Library to Predict, Control, Learn Behaviors, and Represent Learnable Knowledge using On/Off Policy Reinforcement Learning

Stack

C++ CMake

Updated: 2016-08-15
Lists: 1 list mention
First commit: 2012-08-22
History: 1 history point
License: Unknown
Issues: 13 open

211

stars

Forks: 52
Commits: 321 commits
Star growth, last 7 days: 0 0.0%
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Website GitHub

personalrobotics/ssik

Analytical inverse kinematics for 6R and 7R revolute arms. Returns every IK branch at machine-precision FK closure. Ships per-arm build artifacts; covers non-Pieper 6R and non-SRS 7R geometries.

Stack

Python pytest CMake uv

Updated: 2026-10-14
Lists: 1 list mention
First commit: 2026-04-19
History: 1 history point
License: BSD-3-Clause
Issues: 65 open

194

stars

Forks: 17
Commits: 382 commits
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GitHub

siconos/siconos

Simulation framework for nonsmooth dynamical systems

Stack

C pytest CMake npm PEP 517

GitHub topics

#bouncing-ball #complementarity-solvers #impact #mcp #nonsmooth-dynamical-systems #numerical-calculations

Updated: 2026-10-29
Lists: 1 list mention
First commit: 2005-03-24
History: 1 history point
License: Apache-2.0
Issues: 6 open

188

stars

Forks: 35
Commits: 11,274 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

neka-nat/kinpy

Simple kinematics calculation toolkit for robotics

Stack

Python uv

GitHub topics

#forward-kinematics #inverse-kinematics #kinematics #manipulator #mujoco #python

Updated: 2026-10-17
Lists: 1 list mention
First commit: 2019-09-06
History: 1 history point
License: MIT
Issues: 5 open

181

stars

Forks: 27
Commits: 122 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

ayonga/frost-dev

Fast Robot Optimization and Simulation Toolkit (FROST)

Stack

MATLAB Bundler

GitHub topics

#bipedal #dynamic #hybrid #optimization #robotics #virtual-constraints

Updated: 2023-11-29
Lists: 1 list mention
First commit: 2016-05-18
History: 1 history point
License: NOASSERTION
Issues: 11 open

170

stars

Forks: 66
Commits: 618 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

RobotControlStack/robot-control-stack

A lean, ROS-free sim-to-real framework for training and deploying Vision-Language-Action (VLA) models and RL agents. Native MuJoCo Gymnasium wrappers with synchronous execution for Franka, UR5e, xArm, SO101, YAM and Rizon.

Stack

Python Jupyter pytest CMake PEP 517 pip

GitHub topics

#franka #gymnasium #mujoco #reinforcement-learning #robot-learning #robot-manipulation

Updated: 2026-10-30
Lists: 1 list mention
First commit: 2024-01-04
History: 1 history point
License: AGPL-3.0
Issues: 14 open

170

stars

Forks: 24
Commits: 1,760 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

sferes2/sferes2

A lightweight, generic C++11 framework for evolutionary computation

Stack

C++

GitHub topics

#evolutionary-algorithm #evolutionary-computation #evolutionary-robotics #optimization-framework #optimization-library

Updated: 2022-07-11
Lists: 1 list mention
First commit: 2014-04-14
History: 1 history point
License: NOASSERTION
Issues: 22 open

170

stars

Forks: 36
Commits: 265 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

ipab-slmc/exotica

Extensible Optimization Framework

Stack

C++ CMake pip

GitHub topics

#collision-free #exotica #motion-solver #optimal-control #ros #trajectory-optimization

Updated: 2026-10-14
Lists: 1 list mention
First commit: 2015-03-09
History: 1 history point
License: BSD-3-Clause
Issues: 57 open

165

stars

Forks: 69
Commits: 3,506 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

CoppeliaRobotics/coppeliaSimLib

CoppeliaSim core library

Stack

C++ CMake

Updated: 2026-10-29
Lists: 1 list mention
First commit: 2019-09-27
History: 1 history point
License: NOASSERTION
Issues: 1 open

152

stars

Forks: 45
Commits: 1,408 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

AIS-Bonn/TopiCo

Time-optimal Trajectory Generation and Control

Stack

C++ CMake

Updated: 2021-07-12
Lists: 1 list mention
First commit: 2018-10-23
History: 1 history point
License: BSD-3-Clause
Issues: 6 open

146

stars

Forks: 35
Commits: 27 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

DartEnv/dart-env

Openai Gym with Dart support

AI dev

Stack

Python pytest pip

Updated: 2020-10-20
Lists: 1 list mention
First commit: 2016-04-27
History: 1 history point
License: NOASSERTION
Issues: Disabled

139

stars

Forks: 17
Commits: 1,256 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

ros/urdfdom

URDF parser

Stack

C++ CMake

Updated: 2026-10-22
Lists: 1 list mention
First commit: 2009-09-04
History: 1 history point
License: NOASSERTION
Issues: 54 open

138

stars

Forks: 152
Commits: 842 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

coin-or/SHOT

A solver for mixed-integer nonlinear optimization problems

AI dev

Stack

C++ CMake PEP 517 pip

GitHub topics

#global-optimization #minlp #optimization #optimization-library #optimization-methods #solver

Updated: 2026-11-01
Lists: 1 list mention
First commit: 2015-04-28
History: 1 history point
License: EPL-2.0
Issues: 0 open

135

stars

Forks: 27
Commits: 2,588 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

pyomeca/bioptim

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

AI dev

Stack

Python PEP 517

GitHub topics

#biomechanics #casadi #control #direct-collocation #direct-multiple-shooting #discrete-mechanics

Updated: 2026-11-01
Lists: 1 list mention
First commit: 2020-03-31
History: 1 history point
License: MIT
Issues: 98 open

121

stars

Forks: 58
Commits: 8,511 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

robotology/icub-main

The iCub Main Software Repository

Stack

C++ CMake

GitHub topics

#humanoids #icub #robot #robotics #robotics-libraries

Updated: 2026-10-30
Lists: 1 list mention
First commit: 2008-03-03
History: 1 history point
License: NOASSERTION
Issues: 19 open

121

stars

Forks: 107
Commits: 18,528 commits
Star growth, last 7 days: 0 0.0%
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GitHub

fdevinc/ungar

Simplifying optimal control with metaprogramming

Stack

C++ CMake

Updated: 2024-07-16
Lists: 1 list mention
First commit: 2023-03-14
History: 1 history point
License: Apache-2.0
Issues: 5 open

109

stars

Forks: 13
Commits: 84 commits
Star growth, last 7 days: 0 0.0%
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GitHub

4rtur1t0/ARTE

ARTE (A Robotics Toolbox for Education)

Stack

MATLAB

Updated: 2026-04-29
Lists: 1 list mention
First commit: 2014-10-28
History: 1 history point
License: Unknown
Issues: 10 open

106

stars

Forks: 38
Commits: 121 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

jrl-umi3218/SpaceVecAlg

Implementation of spatial vector algebra with the Eigen3 linear algebra library.

Stack

C++ CMake Conan

GitHub topics

#math #robotics

Updated: 2026-10-25
Lists: 1 list mention
First commit: 2012-01-27
History: 1 history point
License: BSD-2-Clause
Issues: 5 open

stars

Forks: 27
Commits: 330 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

RoboticsData/score_lerobot_episodes

A lightweight toolkit for quantitatively scoring LeRobot episodes.

Stack

Python pytest Streamlit PEP 517 pip uv

GitHub topics

#ai #awesome #computer-vision #deeplearning #gemini #huggingface

Updated: 2026-03-13
Lists: 1 list mention
First commit: 2025-06-17
History: 1 history point
License: Apache-2.0
Issues: 8 open

stars

Forks: 13
Commits: 213 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

MRPT/srba

[Prefer the newer MOLAorg/mola project] C++ framework for relative SLAM: Sparser Relative Bundle Adjustment (SRBA)

Stack

C++ CMake

GitHub topics

#bundle-adjustment #graph-slam #mobile-robotics #rba #slam

Updated: 2018-09-30
Lists: 1 list mention
First commit: 2013-01-10
History: 1 history point
License: Unknown
Issues: 6 open

stars

Forks: 37
Commits: 299 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

rock-simulation/mars

MARS is a cross-platform simulation and visualisation tool created for robotics research.

Stack

C++ CMake

Updated: 2025-09-01
Lists: 1 list mention
First commit: 2012-08-07
History: 1 history point
License: Unknown
Issues: 30 open

stars

Forks: 43
Commits: 2,426 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

roboptim/roboptim-core

RobOptim Core Layer: interface and basic mathematical tools

Stack

C++ CMake

GitHub topics

#c-plus-plus #nonlinear #numerical-optimization #roboptim #scientific-computing

Updated: 2025-03-21
Lists: 1 list mention
First commit: 2009-03-24
History: 1 history point
License: LGPL-3.0
Issues: 11 open

stars

Forks: 38
Commits: 1,340 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

DNCrane/Cover-Tree

A well-documented C++ implementation of the cover tree datastructure for quick k-nearest-neighbor search. Allows single-point insertion and removal. Uses templates.

Stack

C++

Updated: 2018-02-13
Lists: 1 list mention
First commit: 2011-05-30
History: 1 history point
License: Unknown
Issues: 5 open

stars

Forks: 16
Commits: 28 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

GitHub

WBK-Robotics/pybullet_industrial

A simulation package extending pybullet for industrial robot applications

Stack

Python pip

GitHub topics

#industrial-automation #robotics #simulation-framework

Updated: 2025-06-17
Lists: 1 list mention
First commit: 2022-05-11
History: 1 history point
License: MIT
Issues: 17 open

stars

Forks: 9
Commits: 570 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

mbsim-env/mbsim

A multi-body simulation software

Stack

C++

GitHub topics

#c-plus-plus #calculix #dynamic-analysis #dynamical-systems #fmi #gui-application

Updated: 2026-10-30
Lists: 1 list mention
First commit: 2013-05-02
History: 1 history point
License: LGPL-2.1
Issues: 3 open

stars

Forks: 17
Commits: 6,291 commits
Star growth, last 7 days: 0 0.0%
Commit velocity, last 7 days: 0 0.0%

Website GitHub

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