https://github.com/jslee02/awesome-robotics-libraries
:sunglasses: A curated list of robotics libraries and software
https://github.com/jslee02/awesome-robotics-libraries
List: awesome-robotics-libraries
awesome-list machine-learning motion-planning multibody-dynamics optimization robotics robotics-libraries simulation slam
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:sunglasses: A curated list of robotics libraries and software
- Host: GitHub
- URL: https://github.com/jslee02/awesome-robotics-libraries
- Owner: jslee02
- License: cc0-1.0
- Created: 2016-04-16T20:44:29.000Z (almost 9 years ago)
- Default Branch: master
- Last Pushed: 2024-06-22T07:24:56.000Z (10 months ago)
- Last Synced: 2025-04-03T08:07:02.168Z (12 days ago)
- Topics: awesome-list, machine-learning, motion-planning, multibody-dynamics, optimization, robotics, robotics-libraries, simulation, slam
- Homepage: http://jslee02.github.io/awesome-robotics-libraries/
- Size: 313 KB
- Stars: 2,437
- Watchers: 124
- Forks: 438
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
Awesome Lists containing this project
- awesome-robotics - Robotics Libraries - Another list of awesome robotics libraries. (Uncategorized / Uncategorized)
- awesome-learning - Awesome robotics libraries
- awesome-ai-list-guide - awesome-robotics-libraries
- awesome-webots - Awesome Robotics Libraries
- ultimate-awesome - awesome-robotics-libraries - :sunglasses: A curated list of robotics libraries and software. (Other Lists / Julia Lists)
- awesome-Robot-Operating-Syetem - Awesome Robotics Libraries
README
# Awesome Robotics Libraries
A curated list of robotics simulators and libraries.
#### Table of Contents
* [Simulators](#simulators)
* [Libraries](#libraries)
* [Dynamics Simulation](#dynamics-simulation)
* [Inverse Kinematics](#inverse-kinematics)
* [Machine Learning](#machine-learning)
* [Motion Planning and Control](#motion-planning-and-control)
* [Optimization](#optimization)
* [Robot Modeling](#robot-modeling)
* [Robot Platform](#robot-platform)
* [SLAM](#slam)
* [Vision](#vision)
* [Fluid](#fluid)
* [Multiphysics](#multiphysics)
* [Math](#math)
* [ETC](#etc)
* [Other Awesome Lists](#other-awesome-lists)
* [Contributing](#contributing)
## [Simulators](#awesome-robotics-libraries)
###### Free or Open Source
* [AI2-THOR](https://ai2thor.allenai.org/) - Python framework with a Unity backend, providing interaction, navigation, and manipulation support for household based robotic agents [[github](https://github.com/allenai/ai2thor) ]
* AirSim - Simulator based on Unreal Engine for autonomous vehicles [[github](https://github.com/Microsoft/AirSim) ]
* [ARGoS](https://www.argos-sim.info/) - Physics-based simulator designed to simulate large-scale robot swarms [[github](https://github.com/ilpincy/argos3) ]
* [ARTE](http://arvc.umh.es/arte/index_en.html) - Matlab toolbox focussed on robotic manipulators [[github](https://github.com/4rtur1t0/ARTE) ]
* [AVIS Engine](https://avisengine.com) - Autonomous Vehicles Intelligent simulation software, A Fast and robust simulator software for Autonomous vehicle development. [[github](https://github.com/AvisEngine/AVIS-Engine-Python-API) ]
* [CARLA](http://carla.org/) - Open-source simulator for autonomous driving research [[github](https://github.com/carla-simulator/carla) ]
* [CoppeliaSim](http://www.coppeliarobotics.com/) - Formaly V-REP. Virtual robot experimentation platform [[github](https://github.com/CoppeliaRobotics/CoppeliaSimLib) ]
* [Gazebo](http://gazebosim.org/) - Dynamic multi-robot simulator [[github](https://github.com/osrf/gazebo) ]
* [GraspIt!](http://graspit-simulator.github.io/) - Simulator for grasping research that can accommodate arbitrary hand and robot designs [[github](https://github.com/graspit-simulator/graspit) ]
* [Habitat-Sim](https://aihabitat.org/) - Simulation platform for research in embodied artificial intelligence [[github](https://github.com/facebookresearch/habitat-sim) ]
* [Hexapod Robot Simulator](https://hexapod.netlify.app/) - Open-source hexapod robot inverse kinematics and gaits visualizer [[github](https://github.com/mithi/hexapod) ]
* [Ignition Gazebo](https://ignitionrobotics.org/home) - Open source robotics simulator [[github](https://github.com/ignitionrobotics/ign-gazebo) ]
* [Isaac Sim](https://developer.nvidia.com/isaac/sim) - Nvidia's robotic simulation environment with GPU physics simulation and ray tracing
* [MORSE](http://morse-simulator.github.io/) - Modular open robots simulation engine [[github](https://github.com/morse-simulator/morse) ]
* [Neurorobotics Platform](https://neurorobotics.net/) - Internet-accessible simulation of robots controlled by spiking neural networks [[bitbucket](https://bitbucket.org/hbpneurorobotics/neurorobotics-platform)]
* [PyBullet](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3) - An easy to use simulator for robotics and deep reinforcement learning [[github](https://github.com/bulletphysics/bullet3) ]
* [PyBullet_Industrial](https://pybullet-industrial.readthedocs.io/en/latest/) - 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](http://robot.glumb.de/) - A three.js based 3D robot interface [[github](https://github.com/glumb/robot-gui) ]
* [SAPIEN](https://sapien.ucsd.edu) - A realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. [[github](https://github.com/haosulab/SAPIEN) ]
* [Simbad](http://simbad.sourceforge.net/) - A Java 3D robot simulator, enables to write own robot controller with modifying environment using available sensors.
* [Unity](https://unity.com/solutions/automotive-transportation-manufacturing/robotics) - 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](http://www.cyberbotics.com/) - A complete development environment to model, program and simulate robots, vehicles and mechanical systems [[github](https://github.com/cyberbotics/webots) ]
###### Commercial
* [Actin Simulation](http://www.energid.com/)
* [Artiminds](https://www.artiminds.com/) - Planning, programming, operation, analysis and optimization
* [Kineo](https://www.plm.automation.siemens.com/global/en/products/plm-components/kineo.html) - Path planning and trajectory optimization for industrial robotics and digital mock-up review applications
* [RobotDK](https://robodk.com/) - Simulation and OLP for robots
* [RobotStudio](http://new.abb.com/products/robotics/robotstudio)
* [Robot Virtual Worlds](http://www.robotvirtualworlds.com/)
* [Virtual Robotics Toolkit](https://www.virtualroboticstoolkit.com/)
* [Visual Components](https://www.visualcomponents.com/)
###### Cloud
* [AWS RoboMaker](https://aws.amazon.com/robomaker/) - Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale
## [Libraries](#awesome-robotics-libraries)
### [Dynamics Simulation](#awesome-robotics-libraries)
> :warning: The following table is not complete. Please feel free to report if you find something incorrect or missing.
| Name | Models | Features | Languages | Licenses | Code | Popularity |
|:----:| ------ | -------- | --------- | -------- | ---- | ---------- |
| [ARCSim](http://graphics.berkeley.edu/resources/ARCSim/index.html) | soft | | C++ | | | |
| [Bullet](http://bulletphysics.org) | rigid, soft | ik, id, urdf, sdf | C++, Python | Zlib | [github](https://github.com/bulletphysics/bullet3) |  |
| [CHRONO::ENGINE](http://chronoengine.info/) | rigid, soft, granular, fluid | ik, urdf | C++, Python | BSD-3-Clause | [github](https://github.com/projectchrono/chrono) |  |
| [DART](http://dartsim.github.io/) | rigid, soft | ik, id, plan, urdf, sdf | C++, Python | BSD-2-Clause | [github](https://github.com/dartsim/dart.git) |  |
| [Drake](http://drake.mit.edu/) | rigid, aero, fluid | ik, trj-opt, plan | C++, Matlab | BSD-3-Clause | [github](https://github.com/RobotLocomotion/drake) |  |
| [Flex](https://developer.nvidia.com/flex) | rigid, soft, particle, fluid | | C++ | | [github](https://github.com/NVIDIAGameWorks/FleX) |  |
| [FROST](https://ayonga.github.io/frost-dev/index.html) | rigid | | MATLAB | BSD-3-Clause | [github](https://github.com/ayonga/frost-dev) |  |
| [IBDS](http://www.interactive-graphics.de/index.php/downloads/12-ibds) | rigid, particle | | C++ | Zlib | | |
| idyntree | rigid | id | C++, Python, Matlab, Lua | LGPL-2.1 | [github](https://github.com/robotology/idyntree) |  |
| [KDL](http://www.orocos.org/kdl) | rigid | ik | C++ | LGPL-2.1 | [github](https://github.com/orocos/orocos_kinematics_dynamics) |  |
| kindr | rigid | (todo) | C++, Matlab | BSD-3-Clause | [github](https://github.com/ANYbotics/kindr) |  |
| [Klampt](http://motion.pratt.duke.edu/klampt/) | (todo) | (todo) | C++, Python | BSD-3-Clause | [github](https://github.com/krishauser/Klampt) |  |
| [LibrePilot](http://www.librepilot.org/site/index.html) | uav, vehicles | (todo) | C++ | GPL-3.0 | [bitbucket](https://bitbucket.org/librepilot/librepilot), [github](https://github.com/librepilot/LibrePilot) |  |
| [MARS](http://rock-simulation.github.io/mars/) | (todo) | (todo) | C++, Python | LGPL-3.0 | [github](https://github.com/rock-simulation/mars) |  |
| [MBDyn](https://www.mbdyn.org/) | (todo) | (todo) | C++ | GPL-2.1 | [download](https://www.mbdyn.org/?Software_Download) | |
| [MBSim](https://www.mbsim-env.de/mbsim/html/index.html) | (todo) | (todo) | C++ | (not specified) | [github](https://github.com/mbsim-env/mbsim) |  |
| [MBSlib](http://www.sim.informatik.tu-darmstadt.de/res/sw/mbslib) | (todo) | (todo) | C++ | LGPL-3.0 | [github](https://github.com/SIM-TU-Darmstadt/mbslib) |  |
| metapod | (todo) | (todo) | C++ | LGPL-3.0 | [github](https://github.com/laas/metapod) |  |
| [Moby](http://physsim.sourceforge.net/index.html) | rigid | id | C++ | GPL-2.0 | [github](https://github.com/PositronicsLab/Moby) |  |
| [mrpt](http://www.mrpt.org/) | vehicle | slam, cv | C++, Python, Matlab | BSD-3-Clause | [github](https://github.com/MRPT/mrpt) |  |
| [MuJoCo](http://www.mujoco.org/index.html) | (todo) | id | C++, Python | [licenses](https://www.roboti.us/license.html) | closed source | |
| [mvsim](http://wiki.ros.org/mvsim) | vehicle | (todo) | C++ | GPL-3.0 | [github](https://github.com/ual-arm-ros-pkg/mvsim) |  |
| [Newton Dynamics](http://newtondynamics.com/) | (todo) | (todo) | C++ | Zlib | [github](https://github.com/MADEAPPS/newton-dynamics) |  |
| [nphysics](http://nphysics.org/) | (todo) | (todo) | Rust | BSD-3-Clause | [github](https://github.com/sebcrozet/nphysics) |  |
| [ODE](http://www.ode.org/) | rigid | | C++ | LGPL-2.1 or BSD-3-Clause | [bitbucket](https://bitbucket.org/odedevs/ode) | |
| [OpenRAVE](http://www.openrave.org) | (todo) | (todo) | C++, Python | LGPL-3.0 | [github](https://github.com/rdiankov/openrave) |  |
| [pinocchio](https://stack-of-tasks.github.io/pinocchio/) | rigid | ik, id, urdf, analytical derivatives, code generation | C++, Python | BSD-2-Clause | [github](https://github.com/stack-of-tasks/pinocchio) |  |
| PositionBasedDynamics | (todo) | (todo) | C++ | MIT | [github](https://github.com/InteractiveComputerGraphics/PositionBasedDynamics) |  |
| [PhysX](https://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/Index.html) | (todo) | (todo) | C++ | unknown | [github](https://github.com/NVIDIAGameWorks/PhysX) |  |
| [PyDy](http://www.pydy.org/) | (todo) | (todo) | Python | BSD-3-Clause | [github](https://github.com/pydy/pydy) |  |
| [RBDL](https://rbdl.github.io/) | rigid | ik,id,urdf | C++, Python | Zlib | [github](https://github.com/rbdl/rbdl) |  |
| RBDyn | rigid | (todo) | C++, Python | LGPL-3.0 | [github](https://github.com/jrl-umi3218/RBDyn) |  |
| [RaiSim](https://slides.com/jeminhwangbo/raisim-manual) | (todo) | (todo) | C++ | [custom](https://github.com/leggedrobotics/raisimLib/blob/a9e7673569997f35c0bc7eb5d11bc4fa188e863c/LICENSE.md) | [github](https://github.com/leggedrobotics/raisimLib) |  |
| [ReactPhysics3d](http://www.reactphysics3d.com/) | (todo) | (todo) | C++ | Zlib | [github](https://github.com/DanielChappuis/reactphysics3d) |  |
| RigidBodyDynamics.jl | rigid | (todo) | Julia | MIT "Expat" | [github](https://github.com/JuliaRobotics/RigidBodyDynamics.jl) |  |
| [Rigs of Rods](https://www.rigsofrods.org/) | rigid, soft, vehicle | (todo) | C++ | GPL-3.0 | [github](https://github.com/RigsOfRods/rigs-of-rods) |  |
| [Robopy](https://adityadua24.github.io/robopy/) | (todo) | (todo) | Python 3 | MIT | [github](https://github.com/adityadua24/robopy) |  |
| [Robotics Library](http://www.roboticslibrary.org/) | (todo) | (todo) | C++ | GPL-3.0 or BSD-2-Clause | [github](https://github.com/roboticslibrary/rl) |  |
| [RobWork](http://www.robwork.dk/apidoc/nightly/rw/index.html) | (todo) | (todo) | C++ | Apache-2.0 | [gitlab](https://gitlab.com/sdurobotics/RobWork) | |
| [siconos](http://siconos.gforge.inria.fr) | (todo) | (todo) | C++, Python | Apache-2.0 | [github](https://github.com/siconos/siconos) |  |
| [Simbody](https://simtk.org/home/simbody/) | rigid, molecules | id, urdf | C++ | Apache-2.0 | [github](https://github.com/simbody/simbody.git) |  |
| [SOFA](https://www.sofa-framework.org/) | rigid, soft, medical | (todo) | C++ | LGPL-2.1 | [github](https://github.com/sofa-framework/sofa) |  |
| Tiny Differentiable Simulator | rigid | (todo) | C++, Python | Apache-2.0 | [github](https://github.com/google-research/tiny-differentiable-simulator) |  |
| [trep](http://murpheylab.github.io/trep/) | rigid | dm, trj-opt | C, Python | GPL-3.0 | [github](https://github.com/MurpheyLab/trep) |  |
| qu3e | rigid | - | C++ | Zlib | [github](https://github.com/RandyGaul/qu3e) |  |
For simplicity, shortened names are used to represent the supported models and features as
* Supported Models
* rigid: rigid bodies
* soft: soft bodies
* aero: aerodynamics
* granular: granular materials (like sand)
* fluid: fluid dynamics
* vehicles
* uav: unmanned aerial vehicles (like drones)
* medical
* molecules
* parallel: parallel mechanism (like Stewart platform)
* Features on Simulation, Analysis, Planning, Control Design
* dm: [discrete mechanics](https://www.cambridge.org/core/journals/acta-numerica/article/div-classtitlediscrete-mechanics-and-variational-integratorsdiv/C8F45478A9290DEC24E63BB7FBE3CEB5)
* ik: [inverse kinematics](https://en.wikipedia.org/wiki/Inverse_kinematics) solvers (please find IK specialized packages in [this list](#inverse-kinematics))
* id: [inverse dynamics](https://en.wikipedia.org/wiki/Inverse_dynamics)
* slam: [simultaneous localization and mapping](https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping)
* trj-opt: trajectory optimization
* plan: motion planning algorithms
* cv: computer vision
* urdf: [urdf](http://wiki.ros.org/urdf) parser
* sdf: [sdf](http://sdformat.org/) parser
### [Inverse Kinematics](#awesome-robotics-libraries)
* IKBT - A python package to solve robot arm inverse kinematics in symbolic form [[github](http://github.com/uw-biorobotics/IKBT) ]
* Lively - A highly configurable toolkit for commanding robots in mixed modalities [[github](https://github.com/Wisc-HCI/lively) ]
* RelaxedIK - Real-time Synthesis of Accurate and Feasible Robot Arm Motion [[github](http://github.com/uwgraphics/relaxed_ik) ]
* [Trip](https://trip-kinematics.readthedocs.io/en/main/index.html) - A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots [[github](https://github.com/TriPed-Robot/TriP) ]
### [Machine Learning](#awesome-robotics-libraries)
* [AllenAct](https://allenact.org/) - Python/PyTorch-based Research Framework for Embodied AI [[github](http://github.com/allenai/allenact) ]
* DLL - Deep Learning Library (DLL) for C++ [[github](http://github.com/wichtounet/dll) ]
* [DyNet](https://dynet.readthedocs.io/en/latest/) - The Dynamic Neural Network Toolkit [[github](http://github.com/clab/dynet) ]
* [Fido](http://fidoproject.github.io/) - Lightweight C++ machine learning library for embedded electronics and robotics [[github](http://github.com/FidoProject/Fido) ]
* [Ivy]([http://fidoproject.github.io/](https://lets-unify.ai/)) - Unified Machine Learning Framework [[github](http://github.com/unifyai/ivy) ]
* LeRobot - State-of-the-art approaches, pretrained models, datasets, and simulation environments for real-world robotics in PyTorch. [[github](https://github.com/huggingface/lerobot) ]
* MiniDNN - A header-only C++ library for deep neural networks [[github](https://github.com/yixuan/MiniDNN) ]
* [mlpack](http://www.mlpack.org/) - Scalable C++ machine learning library [[github](http://github.com/mlpack/mlpack) ]
* [OpenAI Gym](https://gym.openai.com/) - Developing and comparing reinforcement learning algorithms [[github](http://github.com/openai/gym) ]
* gym-dart [[github](http://github.com/DartEnv/dart-env) ]
* gym-gazebo [[github](http://github.com/erlerobot/gym-gazebo) ]
* [RLLib](http://web.cs.miami.edu/home/saminda/rllib.html) - Temporal-difference learning algorithms in reinforcement learning [[github](http://github.com/samindaa/RLLib) ]
* [robosuite](https://robosuite.ai) - A modular simulation framework and benchmark for robot learning [[github](https://github.com/ARISE-Initiative/robosuite) ]
* [tiny-dnn](http://tiny-dnn.readthedocs.io/en/latest/) - Header only, dependency-free deep learning framework in C++14 [[github](http://github.com/tiny-dnn/tiny-dnn) ]
### [Motion Planning and Control](#awesome-robotics-libraries)
* [AIKIDO](https://github.com/personalrobotics/aikido) - Solving robotic motion planning and decision making problems. [[github](https://github.com/personalrobotics/aikido) ]
* Bioptim - Bioptim, a Python Framework for Musculoskeletal Optimal Control in Biomechanics [[github](https://github.com/pyomeca/bioptim) ]
* [CuiKSuite](http://www.iri.upc.edu/people/porta/Soft/CuikSuite2-Doc/html) - Applications to solve position analysis and path planning problems
* [cuRobo](https://curobo.org) - A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster. [[github](https://github.com/nvlabs/curobo) ]
* [Control Toolbox](https://ethz-adrl.github.io/ct/) - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control [[github](https://github.com/ethz-adrl/control-toolbox) ]
* Crocoddyl - Optimal control library for robot control under contact sequence [[github](https://github.com/loco-3d/crocoddyl) ]
* Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles [[github](https://github.com/Fields2Cover/Fields2Cover) ]
* GPMP2 - Gaussian Process Motion Planner 2 [[github](https://github.com/gtrll/gpmp2) ]
* [HPP](https://humanoid-path-planner.github.io/hpp-doc/) - Path planning for kinematic chains in environments cluttered with obstacles [[github](https://github.com/humanoid-path-planner)]
* [MoveIt!](http://moveit.ros.org/) - Motion planning framework [[github](https://github.com/ros-planning/moveit) ]
* [OMPL](http://ompl.kavrakilab.org/) - Open motion planning library [[bitbucket](https://bitbucket.org/ompl/ompl), [github](https://github.com/ompl/ompl) ]
* OCS2 - Efficient continuous and discrete time optimal control implementation [[bitbucket](https://bitbucket.org/leggedrobotics/ocs2/src/master/)]
* pymanoid - Humanoid robotics prototyping environment based on OpenRAVE [[github](https://github.com/stephane-caron/pymanoid) ]
* ROS Behavior Tree - [[github](https://github.com/miccol/ROS-Behavior-Tree) ]
* [Ruckig](https://github.com/pantor/ruckig) - Real-time, time-optimal and jerk-constrained online trajectory generation. [[github](https://github.com/pantor/ruckig) ]
* [The Kautham Project](https://sir.upc.es/projects/kautham/) - A robot simulation toolkit for motion planning [[github](https://github.com/iocroblab/kautham) ]
* [TOPP-RA](https://hungpham2511.github.io/toppra/) - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [[github](https://github.com/hungpham2511/toppra) ]
* [Ungar](https://github.com/fdevinc/ungar) - Expressive and efficient implementation of optimal control problems using template metaprogramming [[github](https://github.com/fdevinc/ungar) ]
###### Motion Optimizer
* TopiCo - Time-optimal Trajectory Generation and Control [[github](https://github.com/AIS-Bonn/TopiCo) ]
* [towr](http://wiki.ros.org/towr) - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots [[github](https://github.com/ethz-adrl/towr) ]
* TrajectoryOptimization - A fast trajectory optimization library written in Julia [[github](https://github.com/RoboticExplorationLab/TrajectoryOptimization.jl) ]
* [trajopt](http://rll.berkeley.edu/trajopt/doc/sphinx_build/html/) - Framework for generating robot trajectories by local optimization [[github](https://github.com/joschu/trajopt) ]
###### Nearest Neighbor
* [Cover-Tree](http://hunch.net/~jl/projects/cover_tree/cover_tree.html) - Cover tree data structure for quick k-nearest-neighbor search [[github](https://github.com/DNCrane/Cover-Tree) ]
* [Faster cover trees](http://proceedings.mlr.press/v37/izbicki15.pdf) by Mike Izbicki et al., ICML 2015.
* [FLANN](http://www.cs.ubc.ca/research/flann/) - Fast Library for Approximate Nearest Neighbors [[github](https://github.com/mariusmuja/flann) ]
* [nanoflann](http://www.cs.ubc.ca/research/flann/) - Nearest Neighbor search with KD-trees [[github](https://github.com/jlblancoc/nanoflann) ]
###### 3D Mapping
* [libpointmatcher](http://libpointmatcher.readthedocs.io/en/latest/) - Iterative Closest Point library for 2-D/3-D mapping in Robotics [[github](https://github.com/ethz-asl/libpointmatcher) ]
* Octree - Fast radius neighbor search with an Octree [[github](https://github.com/jbehley/octree) ]
* [OctoMap](http://octomap.github.io/) - Efficient Probabilistic 3D Mapping Framework Based on Octrees [[github](https://github.com/OctoMap/octomap) ]
* [PCL](http://www.pointclouds.org/) - 2D/3D image and point cloud processing [[github](https://github.com/PointCloudLibrary/pcl) ]
* Treexy - Brutally fast, sparse, 3D Voxel Grid [[github](https://github.com/facontidavide/Treexy) ]
* voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields [[github](https://github.com/ethz-asl/voxblox) ]
* [wavemap](https://ethz-asl.github.io/wavemap/) - Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping [[github](https://github.com/ethz-asl/wavemap) ]
* Utility Software
* [Goxel](https://guillaumechereau.github.io/goxel/) - Free and open source 3D voxel editor [[github](https://github.com/guillaumechereau/goxel) ]
### [Optimization](#awesome-robotics-libraries)
* [CasADi](https://github.com/casadi/casadi/wiki) - Symbolic framework for algorithmic differentiation and numeric optimization [[github](https://github.com/casadi/casadi) ]
* [Ceres Solver](http://ceres-solver.org/) - Large scale nonlinear optimization library [[github](https://github.com/ceres-solver/ceres-solver) ]
* eigen-qld - Interface to use the QLD QP solver with the Eigen3 library [[github](https://github.com/jrl-umi3218/eigen-qld) ]
* [EXOTica](http://wcms.inf.ed.ac.uk/ipab/slmc/research/EXOTica) - Generic optimisation toolset for robotics platforms [[github](https://github.com/ipab-slmc/exotica) ]
* hpipm - High-performance interior-point-method QP solvers (Ipopt, Snopt) [[github](https://github.com/giaf/hpipm) ]
* [HYPRE](https://computation.llnl.gov/projects/hypre-scalable-linear-solvers-multigrid-methods) - Parallel solvers for sparse linear systems featuring multigrid methods [[github](https://github.com/hypre-space/hypre) ]
* ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt) [[github](https://github.com/ethz-adrl/ifopt) ]
* [Ipopt](https://projects.coin-or.org/Ipopt) - Large scale nonlinear optimization library [[github](https://github.com/coin-or/Ipopt) ]
* libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm [[github](https://github.com/beniz/libcmaes) ]
* [limbo](http://www.resibots.eu/limbo/) - Gaussian processes and Bayesian optimization of black-box functions [[github](https://github.com/resibots/limbo) ]
* lpsolvers - Linear Programming solvers in Python with a unified API [[github](https://github.com/stephane-caron/lpsolvers) ]
* [NLopt](http://ab-initio.mit.edu/wiki/index.php/NLopt) - Nonlinear optimization [[github](https://github.com/stevengj/nlopt) ]
* [OptimLib](https://www.kthohr.com/optimlib.html) - Lightweight C++ library of numerical optimization methods for nonlinear functions [[github](https://github.com/kthohr/optim) ]
* [OSQP](https://osqp.org/) - The Operator Splitting QP Solver [[github](https://github.com/osqp/osqp) ]
* [Pagmo](https://esa.github.io/pagmo2/index.html) - Scientific library for massively parallel optimization [[github](https://github.com/esa/pagmo2) ]
* [ProxSuite](https://simple-robotics.github.io/proxsuite/) - The Advanced Proximal Optimization Toolbox [[github](https://github.com/Simple-Robotics/ProxSuite) ]
* [pymoo](https://www.egr.msu.edu/coinlab/blankjul/pymoo/) - Multi-objective Optimization in Python [[github](https://github.com/msu-coinlab/pymoo) ]
* qpsolvers - Quadratic Programming solvers in Python with a unified API [[github](https://github.com/stephane-caron/qpsolvers) ]
* [RobOptim](http://roboptim.net/index.html) - Numerical Optimization for Robotics. [[github](https://github.com/roboptim/roboptim-core) ]
* [SCS](http://web.stanford.edu/~boyd/papers/scs.html) - Numerical optimization for solving large-scale convex cone problems [[github](https://github.com/cvxgrp/scs) ]
* [SHOT](https://shotsolver.dev/shot/) - A solver for mixed-integer nonlinear optimization problems [[github](https://github.com/coin-or/SHOT) ]
* sferes2 - Evolutionary computation [[github](https://github.com/sferes2/sferes2) ]
### [Robot Modeling](#awesome-robotics-libraries)
###### Robot Model Description Format
* [SDF](http://sdformat.org/) - XML format that describes objects and environments for robot simulators, visualization, and control ([bitbucket](https://bitbucket.org/osrf/sdformat))
* [urdf](http://wiki.ros.org/urdf) - XML format for representing a robot model [[github](https://github.com/ros/urdfdom) ]
###### Utility to Build Robot Models
* [onshape-to-robot](https://github.com/Rhoban/onshape-to-robot) - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API [[github](https://github.com/Rhoban/onshape-to-robot) ]
* phobos - Add-on for Blender creating URDF and SMURF robot models [[github](https://github.com/rock-simulation/phobos) ]
### [Robot Platform](#awesome-robotics-libraries)
* [AutoRally](http://autorally.github.io/) - High-performance testbed for advanced perception and control research [[github](https://github.com/autorally/autorally) ]
* [Linorobot](https://linorobot.org/) - ROS compatible ground robots [[github](https://github.com/linorobot/linorobot) ]
* onine - Service Robot based on [Linorobot](https://github.com/linorobot/linorobot) and Braccio Arm [[github](https://github.com/grassjelly/onine) ]
* [Micro-ROS for Arduino](https://github.com/kaiaai/micro_ros_arduino_kaiaai) - a [Micro-ROS](https://github.com/micro-ROS/micro_ros_arduino) fork available in the [Arduino](https://www.arduino.cc/) Library Manager
* [Rock](https://www.rock-robotics.org/stable/) - Software framework for robotic systems
* [ROS](http://www.ros.org/) - Flexible framework for writing robot software [[github repos](http://wiki.ros.org/Tickets)]
* [ROS 2](https://github.com/ros2/ros2/wiki) - Version 2.0 of the Robot Operating System (ROS) software stack [[github repos](https://github.com/ros2)]
* [YARP](http://www.yarp.it/) - Communication and device interfaces applicable from humanoids to embedded devices [[github](https://github.com/robotology/yarp) ]
### [SLAM](#awesome-robotics-libraries)
* AprilSAM - Real-time smoothing and mapping [[github](https://github.com/xipengwang/AprilSAM) ]
* Cartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations [[github](https://github.com/googlecartographer/cartographer) ]
* [DSO](https://vision.in.tum.de/research/vslam/dso) - Novel direct and sparse formulation for Visual Odometry [[github](https://github.com/JakobEngel/dso) ]
* ElasticFusion - Real-time dense visual SLAM system [[github](http://github.com/mp3guy/ElasticFusion) ]
* [fiducials](http://wiki.ros.org/fiducials) - Simultaneous localization and mapping using fiducial markers [[github](http://github.com/UbiquityRobotics/fiducials) ]
* GTSAM - Smoothing and mapping (SAM) in robotics and vision [[github](http://github.com/borglab/gtsam) ]
* Kintinuous - Real-time large scale dense visual SLAM system [[github](http://github.com/mp3guy/Kintinuous) ]
* [LSD-SLAM](https://vision.in.tum.de/research/vslam/lsdslam) - Real-time monocular SLAM [[github](http://github.com/tum-vision/lsd_slam) ]
* ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras [[github](http://github.com/raulmur/ORB_SLAM2) ]
* [RTAP-Map](http://introlab.github.io/rtabmap/) - RGB-D Graph SLAM approach based on a global Bayesian loop closure detector [[github](http://github.com/introlab/rtabmap) ]
* [SRBA](http://mrpt.github.io/srba/) - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [[github](http://github.com/MRPT/srba) ]
#### SLAM Dataset
* [Awesome SLAM Datasets](https://github.com/youngguncho/awesome-slam-datasets)
### [Vision](#awesome-robotics-libraries)
* [ViSP](http://visp.inria.fr/) - Visual Servoing Platform [[github](https://github.com/lagadic/visp) ]
* [BundleTrack](https://github.com/wenbowen123/BundleTrack) - 6D Pose Tracking for Novel Objects without 3D Models [[github](https://github.com/wenbowen123/BundleTrack) ]
* [se(3)-TrackNet](https://github.com/wenbowen123/iros20-6d-pose-tracking) - 6D Pose Tracking for Novel Objects without 3D Models [[github](https://github.com/wenbowen123/iros20-6d-pose-tracking) ]
### [Fluid](#awesome-robotics-libraries)
* [Fluid Engine Dev - Jet](https://fluidenginedevelopment.org/) - Fluid simulation engine for computer graphics applications [[github](https://github.com/doyubkim/fluid-engine-dev) ]
### [Multiphysics](#awesome-robotics-libraries)
* [Kratos](http://www.cimne.com/kratos/) - Framework for building parallel multi-disciplinary simulation software [[github](https://github.com/KratosMultiphysics/Kratos) ]
### [Math](#awesome-robotics-libraries)
* Fastor - Light-weight high performance tensor algebra framework in C++11/14/17 [[github](https://github.com/romeric/Fastor) ]
* linalg.h - Single header public domain linear algebra library for C++11 [[github](https://github.com/sgorsten/linalg) ]
* manif - Small c++11 header-only library for Lie theory. [[github](https://github.com/artivis/manif) ]
* Sophus - Lie groups using Eigen [[github](https://github.com/strasdat/Sophus) ]
* SpaceVelAlg - Spatial vector algebra with the Eigen3 [[github](https://github.com/jrl-umi3218/SpaceVecAlg) ]
### [ETC](#awesome-robotics-libraries)
* fuse - General architecture for performing sensor fusion live on a robot [[github](https://github.com/locusrobotics/fuse) ]
* [Foxglove Studio](https://foxglove.dev) – A fully integrated visualization and debugging desktop app for your robotics data. Combines functionality of tools like `rviz`, `rqt`, and more. Also available via [web app](https://studio.foxglove.dev).
## [Other Awesome Lists](#awesome-robotics-libraries)
* [Awesome Robotics](https://github.com/Kiloreux/awesome-robotics) (Kiloreux)
* [Awesome Robotics](https://github.com/ahundt/awesome-robotics) (ahundt)
* [Awesome Robotic Tooling](https://github.com/Ly0n/awesome-robotic-tooling)
* [Awesome Artificial Intelligence](https://github.com/owainlewis/awesome-artificial-intelligence)
* [Awesome Collision Detection](https://github.com/jslee02/awesome-collision-detection)
* [Awesome Computer Vision](https://github.com/jbhuang0604/awesome-computer-vision)
* [Awesome Machine Learning](https://github.com/josephmisiti/awesome-machine-learning)
* [Awesome Deep Learning](https://github.com/ChristosChristofidis/awesome-deep-learning)
* [Awesome Gazebo](https://github.com/fkromer/awesome-gazebo)
* [Awesome Grasping](https://github.com/Po-Jen/awesome-grasping)
* [Awesome Human Robot Interaction](https://github.com/Po-Jen/awesome-human-robot-interaction)
* [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics) - Python sample codes for robotics algorithms
* [Robotics Coursework](https://github.com/mithi/robotics-coursework) - A list of robotics courses you can take online
## [Contributing](#awesome-robotics-libraries)
Contributions are very welcome! Please read the [contribution guidelines](https://github.com/jslee02/awesome-robotics-libraries/blob/master/CONTRIBUTING.md) first. Also, please feel free to report any error.
## [License](#awesome-robotics-libraries)
[](http://creativecommons.org/publicdomain/zero/1.0/)