[Libraries](#awesome-robotics-libraries)

• [Dynamics Simulation](#awesome-robotics-libraries)

  • ARCSim
  • Bullet
  • CHRONO::ENGINE - 3-Clause | [github](https://github.com/projectchrono/chrono) |  |
  • DART - 2-Clause | [github](https://github.com/dartsim/dart.git) |  |
  • Drake - opt, plan | C++, Matlab | BSD-3-Clause | [github](https://github.com/RobotLocomotion/drake) |  |
  • Flex
  • FROST - 3-Clause | [github](https://github.com/ayonga/frost-dev) |  |
  • IBDS
  • KDL - 2.1 | [github](https://github.com/orocos/orocos_kinematics_dynamics) |  |
  • Klampt - 3-Clause | [github](https://github.com/krishauser/Klampt) |  |
  • LibrePilot - 3.0 | [bitbucket](https://bitbucket.org/librepilot/librepilot), [github](https://github.com/librepilot/LibrePilot) |  |
  • MBDyn - 2.1 | [download](https://www.mbdyn.org/?Software_Download) | |
  • MBSim - env/mbsim) |  |
  • MBSlib - 3.0 | [github](https://github.com/SIM-TU-Darmstadt/mbslib) |  |
  • Moby - 2.0 | [github](https://github.com/PositronicsLab/Moby) |  |
  • mvsim - 3.0 | [github](https://github.com/ual-arm-ros-pkg/mvsim) |  |
  • OpenRAVE - 3.0 | [github](https://github.com/rdiankov/openrave) |  |
  • PhysX
  • PyDy - 3-Clause | [github](https://github.com/pydy/pydy) |  |
  • RBDL
  • RaiSim
  • ReactPhysics3d
  • Rigs of Rods - 3.0 | [github](https://github.com/RigsOfRods/rigs-of-rods) |  |
  • robosuite - Initiative/robosuite) |  |
  • RobWork - 2.0 | [gitlab](https://gitlab.com/sdurobotics/RobWork) | |
  • siconos - 2.0 | [github](https://github.com/siconos/siconos) |  |
  • SOFA - 2.1 | [github](https://github.com/sofa-framework/sofa) |  |
  • discrete mechanics
  • inverse kinematics - kinematics))
  • inverse dynamics
  • simultaneous localization and mapping
  • Simbody - 2.0 | [github](https://github.com/simbody/simbody.git) |  |
  • nphysics - 3-Clause | [github](https://github.com/sebcrozet/nphysics) |  |
  • ARCSim
  • DART - 2-Clause | [github](https://github.com/dartsim/dart.git) |  |
  • github
  • github
  • Klampt - 3-Clause | [github](https://github.com/krishauser/Klampt) |  |
  • LibrePilot - 3.0 | [bitbucket](https://bitbucket.org/librepilot/librepilot), [github](https://github.com/librepilot/LibrePilot) |  |
  • MARS - 3.0 | [github](https://github.com/rock-simulation/mars) |  |
  • github
  • pinocchio - 2-Clause | [github](https://github.com/stack-of-tasks/pinocchio) |  |
  • github
  • github - umi3218/RBDyn.svg?style=flat&label=Star&maxAge=86400) |
  • github
  • Robopy
  • trep - opt | C, Python | GPL-3.0 | [github](https://github.com/MurpheyLab/trep) |  |
  • github
  • sdf
  • MARS - 3.0 | [github](https://github.com/rock-simulation/mars) |  |
  • trep - opt | C, Python | GPL-3.0 | [github](https://github.com/MurpheyLab/trep) |  |
  • discrete mechanics
  • ODE - 2.1 or BSD-3-Clause | [bitbucket](https://bitbucket.org/odedevs/ode) | |
  • github - research/tiny-differentiable-simulator](https://img.shields.io/github/stars/google-research/tiny-differentiable-simulator.svg?style=flat&label=Star&maxAge=86400) |
  • Newton Dynamics - dynamics) |  |
  • Bullet
  • github
  • Klampt - 3-Clause | [github](https://github.com/krishauser/Klampt) |  |
  • MBSim - env/mbsim) |  |
  • MuJoCo - 2.0 | [github](https://github.com/google-deepmind/mujoco) |  |
  • ODE - 2.1 or BSD-3-Clause | [bitbucket](https://bitbucket.org/odedevs/ode) | |
  • PhysX - Omniverse/PhysX) |  |
  • PyDy - 3-Clause | [github](https://github.com/pydy/pydy) |  |
  • Robotics Library - 3.0 or BSD-2-Clause | [github](https://github.com/roboticslibrary/rl) |  |
  • RobWork - 2.0 | [gitlab](https://gitlab.com/sdurobotics/RobWork) | |
  • siconos - 2.0 | [github](https://github.com/siconos/siconos) |  |
  • github - differentiable-simulator](https://img.shields.io/github/stars/erwincoumans/tiny-differentiable-simulator.svg?style=flat&label=Star&maxAge=86400) |

• [ETC](#awesome-robotics-libraries)

  • [github

• [Fluid](#awesome-robotics-libraries)

  • Fluid Engine Dev - Jet - Fluid simulation engine for computer graphics applications [[github](https://github.com/doyubkim/fluid-engine-dev) ]

• [Inverse Kinematics](#awesome-robotics-libraries)

  • Trip - A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots [[github](https://github.com/TriPed-Robot/TriP) ]
  • [github - biorobotics/IKBT](https://img.shields.io/github/stars/uw-biorobotics/IKBT.svg?style=flat&label=Star&maxAge=86400)]
  • [github - nat/kinpy](https://img.shields.io/github/stars/neka-nat/kinpy.svg?style=flat&label=Star&maxAge=86400)]
  • [github - HCI/lively](https://img.shields.io/github/stars/Wisc-HCI/lively.svg?style=flat&label=Star&maxAge=86400)]
  • [github

• [Machine Learning](#awesome-robotics-libraries)

  • AllenAct - Python/PyTorch-based Research Framework for Embodied AI [[github](http://github.com/allenai/allenact) ]
  • DyNet - The Dynamic Neural Network Toolkit [[github](http://github.com/clab/dynet) ]
  • Fido - Lightweight C++ machine learning library for embedded electronics and robotics [[github](http://github.com/FidoProject/Fido) ]
  • OpenAI Gym - Developing and comparing reinforcement learning algorithms [[github](http://github.com/openai/gym) ]
  • RLLib - Temporal-difference learning algorithms in reinforcement learning [[github](http://github.com/samindaa/RLLib) ]
  • tiny-dnn - Header only, dependency-free deep learning framework in C++14 [[github](http://github.com/tiny-dnn/tiny-dnn) ]
  • [github
  • Fido - Lightweight C++ machine learning library for embedded electronics and robotics [[github](http://github.com/FidoProject/Fido) ]
  • Ivy - Unified Machine Learning Framework [[github](http://github.com/unifyai/ivy) ]
  • [github
  • LeRobot Episode Scoring Toolkit - One-click tool to score, filter, and export higher-quality LeRobot datasets. [[github](https://github.com/RoboticsData/score_lerobot_episodes) ]
  • [github
  • [github - env](https://img.shields.io/github/stars/DartEnv/dart-env.svg?style=flat&label=Star&maxAge=86400)]
  • [github
  • mlpack - Scalable C++ machine learning library [[github](https://github.com/mlpack/mlpack) ]
  • Gymnasium - Developing and comparing reinforcement learning algorithms [[github](https://github.com/Farama-Foundation/Gymnasium) ]
  • [github - env](https://img.shields.io/github/stars/erlerobot/gym-gazebo.svg?style=flat&label=Star&maxAge=86400)]
  • [github

• [Math](#awesome-robotics-libraries)

  • [github
  • [github
  • [github
  • [github
  • [github - umi3218/SpaceVecAlg](https://img.shields.io/github/stars/jrl-umi3218/SpaceVecAlg.svg?style=flat&label=Star&maxAge=86400)]
  • [github - python](https://img.shields.io/github/stars/bdaiinstitute/spatialmath-python.svg?style=flat&label=Star&maxAge=86400)]

• [Motion Planning and Control](#awesome-robotics-libraries)

  • CuiKSuite - Applications to solve position analysis and path planning problems
  • OMPL - Open motion planning library [[bitbucket](https://bitbucket.org/ompl/ompl), [github](https://github.com/ompl/ompl) ]
  • [bitbucket
  • The Kautham Project - A robot simulation toolkit for motion planning [[github](https://github.com/iocroblab/kautham) ]
  • towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots [[github](https://github.com/ethz-adrl/towr) ]
  • trajopt - Framework for generating robot trajectories by local optimization [[github](https://github.com/joschu/trajopt) ]
  • Cover-Tree - Cover tree data structure for quick k-nearest-neighbor search [[github](https://github.com/DNCrane/Cover-Tree) ]
  • Faster cover trees
  • nanoflann - Nearest Neighbor search with KD-trees [[github](https://github.com/jlblancoc/nanoflann) ]
  • libpointmatcher - Iterative Closest Point library for 2-D/3-D mapping in Robotics [[github](https://github.com/ethz-asl/libpointmatcher) ]
  • OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees [[github](https://github.com/OctoMap/octomap) ]
  • cuRobo - A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster. [[github](https://github.com/nvlabs/curobo) ]
  • MoveIt! - Motion planning framework [[github](https://github.com/ros-planning/moveit) ]
  • AIKIDO - Solving robotic motion planning and decision making problems. [[github](https://github.com/personalrobotics/aikido) ]
  • [github
  • CuiKSuite - Applications to solve position analysis and path planning problems
  • Control Toolbox - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control [[github](https://github.com/ethz-adrl/control-toolbox) ]
  • [github - 3d/crocoddyl](https://img.shields.io/github/stars/loco-3d/crocoddyl.svg?style=flat&label=Star&maxAge=86400)]
  • [github
  • [github
  • HPP - Path planning for kinematic chains in environments cluttered with obstacles [[github](https://github.com/humanoid-path-planner)]
  • [github - caron/pymanoid](https://img.shields.io/github/stars/stephane-caron/pymanoid.svg?style=flat&label=Star&maxAge=86400)]
  • [github - Behavior-Tree](https://img.shields.io/github/stars/miccol/ROS-Behavior-Tree.svg?style=flat&label=Star&maxAge=86400)]
  • Ruckig - Real-time, time-optimal and jerk-constrained online trajectory generation. [[github](https://github.com/pantor/ruckig) ]
  • TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [[github](https://github.com/hungpham2511/toppra) ]
  • Ungar - Expressive and efficient implementation of optimal control problems using template metaprogramming [[github](https://github.com/fdevinc/ungar) ]
  • [github - Bonn/TopiCo](https://img.shields.io/github/stars/AIS-Bonn/TopiCo.svg?style=flat&label=Star)]
  • [github
  • Faster cover trees
  • [github
  • [github
  • [github - asl/voxblox.svg?style=flat&label=Star&maxAge=86400)]
  • wavemap - Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping [[github](https://github.com/ethz-asl/wavemap) ]
  • Goxel - Free and open source 3D voxel editor [[github](https://github.com/guillaumechereau/goxel) ]
  • The Kautham Project - A robot simulation toolkit for motion planning [[github](https://github.com/iocroblab/kautham) ]
  • [github
  • [github
  • PCL - 2D/3D image and point cloud processing [[github](https://github.com/PointCloudLibrary/pcl) ]
  • wavemap - Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping [[github](https://github.com/ethz-asl/wavemap) ]

• [Multiphysics](#awesome-robotics-libraries)

  • Kratos - Framework for building parallel multi-disciplinary simulation software [[github](https://github.com/KratosMultiphysics/Kratos) ]

• [Optimization](#awesome-robotics-libraries)

  • CasADi - Symbolic framework for algorithmic differentiation and numeric optimization [[github](https://github.com/casadi/casadi) ]
  • Ceres Solver - Large scale nonlinear optimization library [[github](https://github.com/ceres-solver/ceres-solver) ]
  • EXOTica - Generic optimisation toolset for robotics platforms [[github](https://github.com/ipab-slmc/exotica) ]
  • HYPRE - Parallel solvers for sparse linear systems featuring multigrid methods [[github](https://github.com/hypre-space/hypre) ]
  • limbo - Gaussian processes and Bayesian optimization of black-box functions [[github](https://github.com/resibots/limbo) ]
  • OptimLib - Lightweight C++ library of numerical optimization methods for nonlinear functions [[github](https://github.com/kthohr/optim) ]
  • OSQP - The Operator Splitting QP Solver [[github](https://github.com/osqp/osqp) ]
  • Pagmo - Scientific library for massively parallel optimization [[github](https://github.com/esa/pagmo2) ]
  • pymoo - Multi-objective Optimization in Python [[github](https://github.com/msu-coinlab/pymoo) ]
  • RobOptim - Numerical Optimization for Robotics. [[github](https://github.com/roboptim/roboptim-core) ]
  • SCS - Numerical optimization for solving large-scale convex cone problems [[github](https://github.com/cvxgrp/scs) ]
  • SHOT - A solver for mixed-integer nonlinear optimization problems [[github](https://github.com/coin-or/SHOT) ]
  • limbo - Gaussian processes and Bayesian optimization of black-box functions [[github](https://github.com/resibots/limbo) ]
  • Ceres Solver - Large scale nonlinear optimization library [[github](https://github.com/ceres-solver/ceres-solver) ]
  • [github - umi3218/eigen-qld](https://img.shields.io/github/stars/jrl-umi3218/eigen-qld.svg?style=flat&label=Star&maxAge=86400)]
  • EXOTica - Generic optimisation toolset for robotics platforms [[github](https://github.com/ipab-slmc/exotica) ]
  • [github
  • [github - adrl/ifopt.svg?style=flat&label=Star&maxAge=86400)]
  • [github
  • [github - caron/lpsolvers.svg?style=flat&label=Star&maxAge=86400)]
  • ProxSuite - The Advanced Proximal Optimization Toolbox [[github](https://github.com/Simple-Robotics/ProxSuite) ]
  • RobOptim - Numerical Optimization for Robotics. [[github](https://github.com/roboptim/roboptim-core) ]
  • [github
  • Ipopt - Large scale nonlinear optimization library [[github](https://github.com/coin-or/Ipopt) ]
  • SHOT - A solver for mixed-integer nonlinear optimization problems [[github](https://github.com/coin-or/SHOT) ]
  • [github - slmc/exotica](https://img.shields.io/github/stars/ipab-slmc/exotica.svg?style=flat&label=Star&maxAge=86400)]
  • HYPRE - Parallel solvers for sparse linear systems featuring multigrid methods [[github](https://github.com/hypre-space/hypre) ]
  • [github - ES/libcmaes](https://img.shields.io/github/stars/CMA-ES/libcmaes.svg?style=flat&label=Star&maxAge=86400)]
  • NLopt - Nonlinear optimization [[github](https://github.com/stevengj/nlopt) ]
  • pymoo - Multi-objective Optimization in Python [[github](https://github.com/msu-coinlab/pymoo) ]
  • [github
  • [github - or/SHOT](https://img.shields.io/github/stars/coin-or/SHOT.svg?style=flat&label=Star&maxAge=86400)]

• [Robot Modeling](#awesome-robotics-libraries)

  • urdf - XML format for representing a robot model [[github](https://github.com/ros/urdfdom) ]
  • SDF - XML format that describes objects and environments for robot simulators, visualization, and control ([bitbucket](https://bitbucket.org/osrf/sdformat))
  • onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API [[github](https://github.com/Rhoban/onshape-to-robot) ]
  • [github - ric/phobos.svg?style=flat&label=Star&maxAge=86400)]

• [Robot Platform](#awesome-robotics-libraries)

  • AutoRally - High-performance testbed for advanced perception and control research [[github](https://github.com/autorally/autorally) ]
  • Linorobot - ROS compatible ground robots [[github](https://github.com/linorobot/linorobot) ]
  • Rock - Software framework for robotic systems
  • YARP - Communication and device interfaces applicable from humanoids to embedded devices [[github](https://github.com/robotology/yarp) ]
  • AutoRally - High-performance testbed for advanced perception and control research [[github](https://github.com/autorally/autorally) ]
  • Linorobot
  • Micro-ROS for Arduino - a [Micro-ROS](https://github.com/micro-ROS/micro_ros_arduino) fork available in the [Arduino](https://www.arduino.cc/) Library Manager
  • Rock - Software framework for robotic systems
  • ROS - Flexible framework for writing robot software [[github repos](http://wiki.ros.org/Tickets)]

• [SLAM](#awesome-robotics-libraries)

  • DSO - Novel direct and sparse formulation for Visual Odometry [[github](https://github.com/JakobEngel/dso) ]
  • fiducials - Simultaneous localization and mapping using fiducial markers [[github](http://github.com/UbiquityRobotics/fiducials) ]
  • LSD-SLAM - Real-time monocular SLAM [[github](http://github.com/tum-vision/lsd_slam) ]
  • [github
  • [github
  • RTAP-Map - RGB-D Graph SLAM approach based on a global Bayesian loop closure detector [[github](http://github.com/introlab/rtabmap) ]
  • SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [[github](http://github.com/MRPT/srba) ]
  • Awesome SLAM Datasets
  • SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [[github](http://github.com/MRPT/srba) ]
  • [github - project/cartographer.svg?style=flat&label=Star&maxAge=86400)]
  • [github
  • [github
  • [github
  • [github

• [Vision](#awesome-robotics-libraries)

  • ViSP - Visual Servoing Platform [[github](https://github.com/lagadic/visp) ]
  • ViSP - Visual Servoing Platform [[github](https://github.com/lagadic/visp) ]
  • BundleTrack - 6D Pose Tracking for Novel Objects without 3D Models [[github](https://github.com/wenbowen123/BundleTrack) ]