[Libraries](#awesome-robotics-libraries)

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

• ARCSim
• Bullet
• CHRONO::ENGINE - 3-Clause | github | |
• DART - 2-Clause | github | |
• Drake - opt, plan | C++, Matlab | BSD-3-Clause | github | |
• Flex
• FROST - 3-Clause | github | |
• IBDS
• KDL - 2.1 | github | |
• Klampt - 3-Clause | github | |
• LibrePilot - 3.0 | bitbucket, github | |
• MBDyn - 2.1 | download | |
• MBSim - env/mbsim) | |
• MBSlib - 3.0 | github | |
• Moby - 2.0 | github | |
• mvsim - 3.0 | github | |
• OpenRAVE - 3.0 | github | |
• PhysX
• PyDy - 3-Clause | github | |
• RBDL
• RaiSim
• ReactPhysics3d
• Rigs of Rods - 3.0 | github | |
• robosuite - Initiative/robosuite) | |
• RobWork - 2.0 | gitlab | |
• siconos - 2.0 | github | |
• SOFA - 2.1 | github | |
• discrete mechanics
• inverse kinematics - kinematics))
• inverse dynamics
• simultaneous localization and mapping
• Simbody - 2.0 | github | |
• nphysics - 3-Clause | github | |
• ARCSim
• DART - 2-Clause | github | |
• github
• github
• Klampt - 3-Clause | github | |
• LibrePilot - 3.0 | bitbucket, github | |
• MARS - 3.0 | github | |
• github
• pinocchio - 2-Clause | github | |
• github
• github - umi3218/RBDyn.svg?style=flat&label=Star&maxAge=86400) |
• github
• Robopy
• trep - opt | C, Python | GPL-3.0 | github | |
• github
• sdf
• MARS - 3.0 | github | |
• trep - opt | C, Python | GPL-3.0 | github | |
• discrete mechanics
• ODE - 2.1 or BSD-3-Clause | bitbucket | |
• 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 | |
• MBSim - env/mbsim) | |
• MuJoCo - 2.0 | github | |
• ODE - 2.1 or BSD-3-Clause | bitbucket | |
• PhysX - Omniverse/PhysX) | |
• PyDy - 3-Clause | github | |
• Robotics Library - 3.0 or BSD-2-Clause | github | |
• RobWork - 2.0 | gitlab | |
• siconos - 2.0 | github | |
• 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 ]

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

• Trip - A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots [github ]
• [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 ]
• DyNet - The Dynamic Neural Network Toolkit [github ]
• Fido - Lightweight C++ machine learning library for embedded electronics and robotics [github ]
• OpenAI Gym - Developing and comparing reinforcement learning algorithms [github ]
• RLLib - Temporal-difference learning algorithms in reinforcement learning [github ]
• tiny-dnn - Header only, dependency-free deep learning framework in C++14 [github ]
• [github
• Fido - Lightweight C++ machine learning library for embedded electronics and robotics [github ]
• Ivy - Unified Machine Learning Framework [github ]
• [github
• LeRobot Episode Scoring Toolkit - One-click tool to score, filter, and export higher-quality LeRobot datasets. [github ]
• [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 ]
• Gymnasium - Developing and comparing reinforcement learning algorithms [github ]
• [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, github ]
• [bitbucket
• The Kautham Project - A robot simulation toolkit for motion planning [github ]
• towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots [github ]
• trajopt - Framework for generating robot trajectories by local optimization [github ]
• Cover-Tree - Cover tree data structure for quick k-nearest-neighbor search [github ]
• Faster cover trees
• nanoflann - Nearest Neighbor search with KD-trees [github ]
• libpointmatcher - Iterative Closest Point library for 2-D/3-D mapping in Robotics [github ]
• OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees [github ]
• cuRobo - A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster. [github ]
• MoveIt! - Motion planning framework [github ]
• AIKIDO - Solving robotic motion planning and decision making problems. [github ]
• [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 ]
• [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]
• [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 ]
• TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [github ]
• Ungar - Expressive and efficient implementation of optimal control problems using template metaprogramming [github ]
• [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 ]
• Goxel - Free and open source 3D voxel editor [github ]
• The Kautham Project - A robot simulation toolkit for motion planning [github ]
• [github
• [github
• PCL - 2D/3D image and point cloud processing [github ]
• wavemap - Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping [github ]

[Multiphysics](#awesome-robotics-libraries)

• Kratos - Framework for building parallel multi-disciplinary simulation software [github ]

[Optimization](#awesome-robotics-libraries)

• CasADi - Symbolic framework for algorithmic differentiation and numeric optimization [github ]
• Ceres Solver - Large scale nonlinear optimization library [github ]
• EXOTica - Generic optimisation toolset for robotics platforms [github ]
• HYPRE - Parallel solvers for sparse linear systems featuring multigrid methods [github ]
• limbo - Gaussian processes and Bayesian optimization of black-box functions [github ]
• OptimLib - Lightweight C++ library of numerical optimization methods for nonlinear functions [github ]
• OSQP - The Operator Splitting QP Solver [github ]
• Pagmo - Scientific library for massively parallel optimization [github ]
• pymoo - Multi-objective Optimization in Python [github ]
• RobOptim - Numerical Optimization for Robotics. [github ]
• SCS - Numerical optimization for solving large-scale convex cone problems [github ]
• SHOT - A solver for mixed-integer nonlinear optimization problems [github ]
• limbo - Gaussian processes and Bayesian optimization of black-box functions [github ]
• Ceres Solver - Large scale nonlinear optimization library [github ]
• [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 ]
• [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 ]
• RobOptim - Numerical Optimization for Robotics. [github ]
• [github
• Ipopt - Large scale nonlinear optimization library [github ]
• SHOT - A solver for mixed-integer nonlinear optimization problems [github ]
• [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 ]
• [github - ES/libcmaes](https://img.shields.io/github/stars/CMA-ES/libcmaes.svg?style=flat&label=Star&maxAge=86400)]
• NLopt - Nonlinear optimization [github ]
• pymoo - Multi-objective Optimization in Python [github ]
• [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 ]
• SDF - XML format that describes objects and environments for robot simulators, visualization, and control (bitbucket)
• onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API [github ]
• [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 ]
• Linorobot - ROS compatible ground robots [github ]
• Rock - Software framework for robotic systems
• YARP - Communication and device interfaces applicable from humanoids to embedded devices [github ]
• AutoRally - High-performance testbed for advanced perception and control research [github ]
• Linorobot
• Micro-ROS for Arduino - a Micro-ROS fork available in the Arduino Library Manager
• Rock - Software framework for robotic systems
• ROS - Flexible framework for writing robot software [github repos]

[SLAM](#awesome-robotics-libraries)

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

[Vision](#awesome-robotics-libraries)

• ViSP - Visual Servoing Platform [github ]
• ViSP - Visual Servoing Platform [github ]
• BundleTrack - 6D Pose Tracking for Novel Objects without 3D Models [github ]