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awesome-robotics-libraries
:sunglasses: A curated list of robotics libraries and software
https://github.com/jslee02/awesome-robotics-libraries
Last synced: about 9 hours ago
JSON representation
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[Libraries](#awesome-robotics-libraries)
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[Dynamics Simulation](#awesome-robotics-libraries)
- OpenRAVE - 3.0 | [github](https://github.com/rdiankov/openrave) |  |
- Simbody - 2.0 | [github](https://github.com/simbody/simbody.git) |  |
- 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) |  |
- mrpt - 3-Clause | [github](https://github.com/MRPT/mrpt) |  |
- MuJoCo
- mvsim - 3.0 | [github](https://github.com/ual-arm-ros-pkg/mvsim) |  |
- Newton Dynamics - dynamics) |  |
- nphysics - 3-Clause | [github](https://github.com/sebcrozet/nphysics) |  |
- ODE - 2.1 or BSD-3-Clause | [bitbucket](https://bitbucket.org/odedevs/ode) | |
- 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) |  |
- 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) |  |
- SOFA - 2.1 | [github](https://github.com/sofa-framework/sofa) |  |
- github - research/tiny-differentiable-simulator](https://img.shields.io/github/stars/google-research/tiny-differentiable-simulator.svg?style=flat&label=Star&maxAge=86400) |
- discrete mechanics
- inverse kinematics - kinematics))
- inverse dynamics
- simultaneous localization and mapping
- nphysics - 3-Clause | [github](https://github.com/sebcrozet/nphysics) |  |
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[SLAM](#awesome-robotics-libraries)
- 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) ]
- DSO - Novel direct and sparse formulation for Visual Odometry [[github](https://github.com/JakobEngel/dso) ]
- [github
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[Vision](#awesome-robotics-libraries)
- ViSP - Visual Servoing Platform [[github](https://github.com/lagadic/visp) ]
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[Fluid](#awesome-robotics-libraries)
- Fluid Engine Dev - Jet - Fluid simulation engine for computer graphics applications [[github](https://github.com/doyubkim/fluid-engine-dev) ]
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[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) ]
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[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) ]
- mlpack - Scalable C++ machine learning library [[github](http://github.com/mlpack/mlpack) ]
- OpenAI Gym - Developing and comparing reinforcement learning algorithms [[github](http://github.com/openai/gym) ]
- [github - env](https://img.shields.io/github/stars/erlerobot/gym-gazebo.svg?style=flat&label=Star&maxAge=86400)]
- 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) ]
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[Motion Planning and Control](#awesome-robotics-libraries)
- CuiKSuite - Applications to solve position analysis and path planning problems
- MoveIt! - Motion planning framework [[github](https://github.com/ros-planning/moveit) ]
- 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
- 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) ]
- PCL - 2D/3D image and point cloud processing [[github](https://github.com/PointCloudLibrary/pcl) ]
- Goxel - Free and open source 3D voxel editor [[github](https://github.com/guillaumechereau/goxel) ]
- 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) ]
- nanoflann - Nearest Neighbor search with KD-trees [[github](https://github.com/jlblancoc/nanoflann) ]
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[Optimization](#awesome-robotics-libraries)
- EXOTica - Generic optimisation toolset for robotics platforms [[github](https://github.com/ipab-slmc/exotica) ]
- 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) ]
- 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) ]
- NLopt - Nonlinear optimization [[github](https://github.com/stevengj/nlopt) ]
- 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) ]
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[Robot Modeling](#awesome-robotics-libraries)
- [github - simulation/phobos.svg?style=flat&label=Star&maxAge=86400)]
- SDF - XML format that describes objects and environments for robot simulators, visualization, and control ([bitbucket](https://bitbucket.org/osrf/sdformat))
- urdf - XML format for representing a robot model [[github](https://github.com/ros/urdfdom) ]
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[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
- ROS - Flexible framework for writing robot software [[github repos](http://wiki.ros.org/Tickets)]
- ROS 2 - Version 2.0 of the Robot Operating System (ROS) software stack [[github repos](https://github.com/ros2)]
- YARP - Communication and device interfaces applicable from humanoids to embedded devices [[github](https://github.com/robotology/yarp) ]
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[License](#awesome-robotics-libraries)
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[ETC](#awesome-robotics-libraries)
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[Other Awesome Lists](#awesome-robotics-libraries)
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[ETC](#awesome-robotics-libraries)
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[Simulators](#awesome-robotics-libraries)
- Robot Virtual Worlds
- AI2-THOR - Python framework with a Unity backend, providing interaction, navigation, and manipulation support for household based robotic agents [[github](https://github.com/allenai/ai2thor) ]
- ARGoS - Physics-based simulator designed to simulate large-scale robot swarms [[github](https://github.com/ilpincy/argos3) ]
- ARTE - Matlab toolbox focussed on robotic manipulators [[github](https://github.com/4rtur1t0/ARTE) ]
- AVIS Engine - Autonomous Vehicles Intelligent simulation software, A Fast and robust simulator software for Autonomous vehicle development. [[github](https://github.com/AvisEngine/AVIS-Engine-Python-API) ]
- CoppeliaSim - Formaly V-REP. Virtual robot experimentation platform [[github](https://github.com/CoppeliaRobotics/CoppeliaSimLib) ]
- Gazebo - Dynamic multi-robot simulator [[github](https://github.com/osrf/gazebo) ]
- GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs [[github](https://github.com/graspit-simulator/graspit) ]
- Habitat-Sim - Simulation platform for research in embodied artificial intelligence [[github](https://github.com/facebookresearch/habitat-sim) ]
- Hexapod Robot Simulator - Open-source hexapod robot inverse kinematics and gaits visualizer [[github](https://github.com/mithi/hexapod) ]
- Ignition Gazebo - Open source robotics simulator [[github](https://github.com/ignitionrobotics/ign-gazebo) ]
- Isaac - Nvidia's virtual simulator for robots
- MORSE - Modular open robots simulation engine [[github](https://github.com/morse-simulator/morse) ]
- Neurorobotics Platform - Internet-accessible simulation of robots controlled by spiking neural networks [[bitbucket](https://bitbucket.org/hbpneurorobotics/neurorobotics-platform)]
- PyBullet - An easy to use simulator for robotics and deep reinforcement learning [[github](https://github.com/bulletphysics/bullet3) ]
- PyBullet_Industrial - A extension to PyBullet that allows for the simulation of various robotic manufacturing processes such as milling or 3D-printing. [[github](https://github.com/WBK-Robotics/pybullet_industrial) ]
- Robot Gui - A three.js based 3D robot interface [[github](https://github.com/glumb/robot-gui) ]
- Simbad - A Java 3D robot simulator, enables to write own robot controller with modifying environment using available sensors.
- Unity - Popular game engine that now offers open-source tools, tutorials, and resources for robotics simulation [[github](https://github.com/Unity-Technologies/Unity-Robotics-Hub) ]
- Webots - A complete development environment to model, program and simulate robots, vehicles and mechanical systems [[github](https://github.com/cyberbotics/webots) ]
- Actin Simulation
- Artiminds - Planning, programming, operation, analysis and optimization
- Kineo - Path planning and trajectory optimization for industrial robotics and digital mock-up review applications
- RobotDK - Simulation and OLP for robots
- RobotStudio
- Virtual Robotics Toolkit
- Visual Components
- AWS RoboMaker - Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale
- Isaac Sim - Nvidia's robotic simulation environment with GPU physics simulation and ray tracing
- Ignition Gazebo - Open source robotics simulator [[github](https://github.com/ignitionrobotics/ign-gazebo) ]
- [github
- AVIS Engine - Autonomous Vehicles Intelligent simulation software, A Fast and robust simulator software for Autonomous vehicle development. [[github](https://github.com/AvisEngine/AVIS-Engine-Python-API) ]
Categories
Sub Categories
[Dynamics Simulation](#awesome-robotics-libraries)
41
[Motion Planning and Control](#awesome-robotics-libraries)
16
[Optimization](#awesome-robotics-libraries)
14
[Machine Learning](#awesome-robotics-libraries)
8
[ETC](#awesome-robotics-libraries)
7
[Robot Platform](#awesome-robotics-libraries)
6
[SLAM](#awesome-robotics-libraries)
4
[Robot Modeling](#awesome-robotics-libraries)
3
[Fluid](#awesome-robotics-libraries)
1
[Vision](#awesome-robotics-libraries)
1
[Inverse Kinematics](#awesome-robotics-libraries)
1
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