A curated list of robotics libraries and simulators.
Legend: 🟢 Active (<1yr) · 🟡 Slow (1-2yr) · 🔴 Stale (>2yr) · 💀 Archived
Physics engines and rigid/soft body dynamics libraries. See also Comparisons.
- ARCSim - Adaptive remeshing cloth and shell simulator for thin deformable objects.
- 🟢 Brax - Massively parallel differentiable rigid body physics engine in JAX for robotics and RL. ⭐ 3k
- 🟢 Bullet - Real-time physics simulation for games, visual effects, and robotics. ⭐ 14.2k
- 🟢 CHRONO::ENGINE - Multi-physics simulation of rigid and flexible bodies, granular, and fluid systems. ⭐ 2.7k
- 🟢 DART - Dynamic Animation and Robotics Toolkit for multibody simulation and planning. ⭐ 1.1k
- 🟢 Drake - Planning, control, and analysis toolbox for nonlinear dynamical systems. ⭐ 3.9k
- 💀 Flex - GPU-based particle simulation for rigid bodies, fluids, and deformables. ⭐ 787
- 🔴 FROST - Fast Robot Optimization and Simulation Toolkit for hybrid dynamical systems in MATLAB. ⭐ 169
- 🟢 Genesis - Generative and universal physics platform for robotics with GPU-accelerated parallel simulation. ⭐ 28.1k
- IBDS - Impulse-based dynamics simulation for rigid bodies and particle systems.
- 🟢 idyntree - Library for estimation and whole-body dynamics of floating-base robots. ⭐ 223
- 🟢 KDL - Orocos Kinematics and Dynamics Library for kinematic chains. ⭐ 857
- 🟢 kindr - Kinematics and dynamics library for rigid body transformations. ⭐ 607
- 🟢 Klampt - Robot planning, control, and simulation with visualization support. ⭐ 427
- 🔴 LibrePilot - Open-source autopilot for UAVs and other autonomous vehicles. ⭐ 348
- 🟢 MARS - Machina Arte Robotum Simulans — a cross-platform simulation environment. ⭐ 67
- MBDyn - General-purpose multibody dynamics analysis software. [code]
- 🟢 MBSim - Multi-body simulation environment for flexible and rigid systems. ⭐ 51
- 🔴 MBSlib - Lightweight multibody system dynamics library. ⭐ 11
- 💀 metapod - Template-based robot dynamics library using spatial algebra. ⭐ 14
- 🔴 Moby - Multi-body dynamics simulation for rigid bodies with contact. ⭐ 37
- 🟢 mrpt - Mobile Robot Programming Toolkit for SLAM, navigation, and computer vision. ⭐ 2.1k
- 🟢 MuJoCo - Multi-joint dynamics with contact for physics-based simulation and control. ⭐ 11.9k
- 🟢 mvsim - Lightweight multi-vehicle 2D simulator with ROS integration. ⭐ 359
- 🟢 Newton - GPU-accelerated differentiable physics engine built on NVIDIA Warp for robotics simulation. ⭐ 2.5k
- 🟢 Newton Dynamics - Real-time physics engine for rigid body simulation. ⭐ 1k
- 🔴 nphysics - 2D and 3D rigid body physics engine written in Rust. ⭐ 1.6k
- ODE - Open Dynamics Engine for simulating rigid body dynamics. [bitbucket]
- 🟢 OpenRAVE - Open Robotics Automation Virtual Environment for planning and simulation. ⭐ 798
- 🟢 PhysX - NVIDIA physics engine for real-time rigid body and vehicle simulation. ⭐ 4.4k
- 🟢 pinocchio - Fast and flexible algorithms for rigid-body dynamics with analytical derivatives. ⭐ 3.1k
- 🟢 PositionBasedDynamics - Position-based methods for simulating deformable objects and fluids. ⭐ 2.2k
- 🟢 PyDy - Multibody dynamics analysis with symbolic Python using SymPy. ⭐ 405
- 💀 qu3e - Lightweight 3D physics engine for rigid body dynamics. ⭐ 974
- 💀 RaiSim - Cross-platform physics engine for robotics and reinforcement learning. ⭐ 329
- 🟢 RBDL - Rigid Body Dynamics Library based on Featherstone algorithms. ⭐ 683
- 🟢 RBDyn - Rigid body dynamics algorithms using spatial algebra with Eigen. ⭐ 211
- 🟢 ReactPhysics3d - Open-source 3D physics engine for rigid body simulation and collision detection. ⭐ 1.7k
- 🟡 RigidBodyDynamics.jl - Julia library for rigid body dynamics algorithms. ⭐ 307
- 🟢 Rigs of Rods - Soft-body vehicle simulator using beam physics. ⭐ 1.1k
- 🔴 Robopy - Python robotics toolbox inspired by Peter Corke's Robotics Toolbox. ⭐ 228
- 🟢 Robotics Library - Self-contained C++ library for robot kinematics, planning, and control. ⭐ 1.2k
- RobWork - Framework for simulation and control of robot systems. [gitlab]
- 🟢 siconos - Nonsmooth dynamical systems modeling and simulation platform. ⭐ 182
- 🟢 Simbody - Multibody dynamics library for biomechanical and mechanical systems. ⭐ 2.5k
- 🟢 SOFA - Simulation Open Framework Architecture for medical and physics simulation. ⭐ 1.1k
- 🟡 Tiny Differentiable Simulator - Header-only differentiable physics engine for robotics. ⭐ 1.3k
- 🔴 trep - Simulation and optimal control using variational integrators. ⭐ 20
Libraries for computing joint configurations from end-effector poses.
- 🟢 IKBT - A python package to solve robot arm inverse kinematics in symbolic form. ⭐ 215
- 🟢 Kinpy - A simple pure python package to solve inverse kinematics. ⭐ 179
- 🔴 Lively - A highly configurable toolkit for commanding robots in mixed modalities. ⭐ 7
- 🔴 RelaxedIK - Real-time Synthesis of Accurate and Feasible Robot Arm Motion. ⭐ 235
- 🔴 Trip - A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots. ⭐ 44
Machine learning frameworks and tools applied to robotics.
- 🟢 AllenAct - Python/PyTorch-based Research Framework for Embodied AI. ⭐ 376
- 🟢 Any4LeRobot - A collection of utilities and tools for LeRobot. ⭐ 838
- 🟢 DLL - Deep Learning Library (DLL) for C++. ⭐ 687
- 🔴 DyNet - The Dynamic Neural Network Toolkit. ⭐ 3.4k
- 🔴 Fido - Lightweight C++ machine learning library for embedded electronics and robotics. ⭐ 462
- 🟢 Gymnasium - Developing and comparing reinforcement learning algorithms. ⭐ 11.2k
- 🟢 Ivy - Unified Machine Learning Framework. ⭐ 14.2k
- 🟢 LeRobot - Pretrained models, datasets, and simulation environments for real-world robotics in PyTorch. ⭐ 21.4k
- 🟢 LeRobot Episode Scoring Toolkit - One-click tool to score, filter, and export higher-quality LeRobot datasets. ⭐ 48
- 🔴 MiniDNN - A header-only C++ library for deep neural networks. ⭐ 431
- 🟢 mlpack - Scalable C++ machine learning library. ⭐ 5.6k
- 🔴 RLLib - Temporal-difference learning algorithms in reinforcement learning. ⭐ 208
- 🟢 robosuite - A modular simulation framework and benchmark for robot learning. ⭐ 2.2k
- 🔴 tiny-dnn - Header only, dependency-free deep learning framework in C++14. ⭐ 6k
Libraries for robot motion planning, trajectory optimization, and control.
- 🔴 AIKIDO - Solving robotic motion planning and decision making problems. ⭐ 228
- 🟢 Bioptim - Bioptim, a Python Framework for Musculoskeletal Optimal Control in Biomechanics. ⭐ 113
- 🔴 Control Toolbox - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control. ⭐ 1.7k
- 🟢 Crocoddyl - Optimal control library for robot control under contact sequence. ⭐ 1.2k
- CuiKSuite - Applications to solve position analysis and path planning problems.
- 🟢 cuRobo - A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster. ⭐ 1.3k
- 🟢 Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles. ⭐ 745
- 🔴 GPMP2 - Gaussian Process Motion Planner 2. ⭐ 351
- HPP - Path planning for kinematic chains in environments cluttered with obstacles.
- 🟢 MoveIt! - Motion planning framework. ⭐ 2k
- 🟢 OCS2 - Efficient continuous and discrete time optimal control implementation. ⭐ 1.3k
- 🟢 OMPL - Open motion planning library. ⭐ 1.9k
- 💀 pymanoid - Humanoid robotics prototyping environment based on OpenRAVE. ⭐ 232
- 🔴 ROS Behavior Tree - Behavior tree implementation for ROS-based robot task planning. ⭐ 362
- 🟢 Ruckig - Real-time, time-optimal and jerk-constrained online trajectory generation. ⭐ 1.1k
- 🟢 The Kautham Project - A robot simulation toolkit for motion planning. ⭐ 24
- 🟢 TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints. ⭐ 830
- 🟡 Ungar - Expressive and efficient implementation of optimal control problems using template metaprogramming. ⭐ 109
- 🔴 TopiCo - Time-optimal Trajectory Generation and Control. ⭐ 143
- 🔴 towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. ⭐ 1k
- 🟢 TrajectoryOptimization - A fast trajectory optimization library written in Julia. ⭐ 386
- 🔴 trajopt - Framework for generating robot trajectories by local optimization. ⭐ 449
- 🔴 Cover-Tree - Cover tree data structure for quick k-nearest-neighbor search. ⭐ 64
- Faster cover trees - by Mike Izbicki et al., ICML 2015.
- 🟡 FLANN - Fast Library for Approximate Nearest Neighbors. ⭐ 2.4k
- 🟢 nanoflann - Nearest Neighbor search with KD-trees. ⭐ 2.6k
- 🟢 Bonxai - Brutally fast, sparse, 3D Voxel Grid (formerly Treexy). ⭐ 810
- 🟢 Goxel - Free and open source 3D voxel editor. ⭐ 3.1k
- 🟢 libpointmatcher - Iterative Closest Point library for 2-D/3-D mapping in Robotics. ⭐ 1.8k
- 🟢 OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees. ⭐ 2.3k
- 🔴 Octree - Fast radius neighbor search with an Octree. ⭐ 374
- 🟢 PCL - 2D/3D image and point cloud processing. ⭐ 10.8k
- Utility Software
- 🟡 voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields. ⭐ 1.6k
- 🟡 wavemap - Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping. ⭐ 551
Numerical optimization solvers and frameworks used in robotics.
- 🟢 CasADi - Symbolic framework for algorithmic differentiation and numeric optimization. ⭐ 2.1k
- 🟢 Ceres Solver - Large scale nonlinear optimization library. ⭐ 4.4k
- 🟢 eigen-qld - Interface to use the QLD QP solver with the Eigen3 library. ⭐ 16
- 🟡 EXOTica - Generic optimisation toolset for robotics platforms. ⭐ 161
- 🟢 hpipm - High-performance interior-point-method QP solvers (Ipopt, Snopt). ⭐ 665
- 🟢 HYPRE - Parallel solvers for sparse linear systems featuring multigrid methods. ⭐ 812
- 🟢 ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt). ⭐ 847
- 🟢 Ipopt - Large scale nonlinear optimization library. ⭐ 1.7k
- 🟢 libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm. ⭐ 354
- 🔴 limbo - Gaussian processes and Bayesian optimization of black-box functions. ⭐ 260
- 🟢 lpsolvers - Linear Programming solvers in Python with a unified API. ⭐ 25
- 🟢 NLopt - Nonlinear optimization. ⭐ 2.2k
- 🟡 OptimLib - Lightweight C++ library of numerical optimization methods for nonlinear functions. ⭐ 885
- 🟢 OSQP - The Operator Splitting QP Solver. ⭐ 2.1k
- 🟢 Pagmo - Scientific library for massively parallel optimization. ⭐ 907
- 🟢 ProxSuite - The Advanced Proximal Optimization Toolbox. ⭐ 538
- 🔴 pymoo - Multi-objective Optimization in Python. ⭐ 26
- 🟢 qpsolvers - Quadratic Programming solvers in Python with a unified API. ⭐ 725
- 🟢 RobOptim - Numerical Optimization for Robotics. ⭐ 65
- 🟢 SCS - Numerical optimization for solving large-scale convex cone problems. ⭐ 613
- 🔴 sferes2 - Evolutionary computation. ⭐ 170
- 🟢 SHOT - A solver for mixed-integer nonlinear optimization problems. ⭐ 129
Tools and formats for describing robot models.
- SDF - XML format that describes objects and environments for robot simulators, visualization, and control. [bitbucket]
- 🟢 urdf - XML format for representing a robot model. ⭐ 118
- 🟢 onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API. ⭐ 486
- 🟢 phobos - Add-on for Blender creating URDF and SMURF robot models. ⭐ 855
Middleware and frameworks for building robot software systems.
- 🔴 AutoRally - High-performance testbed for advanced perception and control research. ⭐ 775
- 🔴 Linorobot - ROS compatible ground robots. ⭐ 1.1k
- 🔴 onine - Service Robot based on Linorobot and Braccio Arm. ⭐ 47
- 🟡 Micro-ROS for Arduino - a Micro-ROS fork available in the Arduino Library Manager. ⭐ 12
- Rock - Software framework for robotic systems.
- ROS - Flexible framework for writing robot software.
- 🟢 ROS 2 - Version 2.0 of the Robot Operating System (ROS) software stack. ⭐ 5k
- 🟢 YARP - Communication and device interfaces applicable from humanoids to embedded devices. ⭐ 585
Reinforcement learning libraries commonly used in robotic control.
- 🟢 Brax - Massively parallel differentiable rigid body physics engine in JAX for robotics and RL. ⭐ 3k
- 🟢 CleanRL - Single-file implementations of deep reinforcement learning algorithms. ⭐ 9k
- 🟢 Isaac Lab - GPU-accelerated open-source framework for robot learning built on NVIDIA Isaac Sim. ⭐ 6.2k
- 🟢 rl_games - High-performance RL library used in Isaac Gym environments. ⭐ 1.3k
- 🟢 SKRL - Modular reinforcement learning library with support for multiple ML frameworks. ⭐ 982
- 🟢 Stable-Baselines3 - Reliable implementations of reinforcement learning algorithms in PyTorch. ⭐ 12.7k
Simultaneous Localization and Mapping libraries.
- 🔴 AprilSAM - Real-time smoothing and mapping. ⭐ 239
- 🔴 Cartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations. ⭐ 7.8k
- 🟡 DSO - Novel direct and sparse formulation for Visual Odometry. ⭐ 2.4k
- 🟢 ElasticFusion - Real-time dense visual SLAM system. ⭐ 1.9k
- 🟢 fiducials - Simultaneous localization and mapping using fiducial markers. ⭐ 278
- 🟢 GTSAM - Smoothing and mapping (SAM) in robotics and vision. ⭐ 3.3k
- 🔴 Kintinuous - Real-time large scale dense visual SLAM system. ⭐ 951
- 🔴 LSD-SLAM - Real-time monocular SLAM. ⭐ 2.7k
- 🟡 ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras. ⭐ 10.1k
- 🟢 RTAP-Map - RGB-D Graph SLAM approach based on a global Bayesian loop closure detector. ⭐ 3.6k
- 🔴 SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies. ⭐ 76
- 🟡 Awesome SLAM Datasets - Curated list of SLAM-related datasets. ⭐ 1.9k
Computer vision libraries for robotic perception.
- 🔴 BundleTrack - 6D Pose Tracking for Novel Objects without 3D Models. ⭐ 678
- 🔴 se(3)-TrackNet - 6D Pose Tracking for Novel Objects without 3D Models. ⭐ 420
- 🟢 ViSP - Visual Servoing Platform. ⭐ 849
Fluid dynamics simulation libraries.
- 🔴 Fluid Engine Dev - Jet - Fluid simulation engine for computer graphics applications. ⭐ 2.1k
Libraries and tools for robotic grasping and manipulation.
- 🟢 AnyGrasp SDK - SDK for AnyGrasp, a 6-DoF grasp pose detection method. ⭐ 752
- 🟡 Contact-GraspNet - 6-DoF grasp generation for parallel-jaw grippers using contact maps. ⭐ 449
- 🔴 GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs. ⭐ 207
- 🟢 GraspNet API - Python API and evaluation tools for the GraspNet benchmark. ⭐ 323
Environments and models for humanoid robot research.
- 🟡 Humanoid-Gym - Reinforcement learning environment for humanoid robot locomotion. ⭐ 1.8k
- 🟢 iCub - Open-source cognitive humanoid robotic platform for embodied cognition research. ⭐ 117
- 🟢 Legged Gym - Isaac Gym environments for legged robot locomotion training. ⭐ 2.7k
- 🟢 MuJoCo Menagerie - Collection of well-tuned MuJoCo models for research and development. ⭐ 3k
Frameworks for coupled multi-physics simulations.
Mathematics libraries for spatial algebra, Lie groups, and linear algebra.
- 🟢 Fastor - Light-weight high performance tensor algebra framework in C++11/14/17. ⭐ 830
- 🔴 linalg.h - Single header public domain linear algebra library for C++11. ⭐ 939
- 🟢 manif - Small c++11 header-only library for Lie theory. ⭐ 1.7k
- 🟡 Sophus - Lie groups using Eigen. ⭐ 2.4k
- 🟢 SpaceVelAlg - Spatial vector algebra with the Eigen3. ⭐ 80
- 🟢 spatialmath-python - Python classes for pose and orientation in 2D/3D with spatial operations toolbox. ⭐ 615
Other robotics-related tools and utilities.
- Foxglove Studio - A fully integrated visualization and debugging desktop app for your robotics data.
- 🟢 fuse - General architecture for performing sensor fusion live on a robot. ⭐ 847
Simulation environments for testing and developing robotic systems.
- 🟢 AI2-THOR - Interactive household environment for embodied AI with Unity backend. ⭐ 1.7k
- 🟢 AirSim - Simulator based on Unreal Engine for autonomous vehicles. ⭐ 17.9k
- 🟢 ARGoS - Physics-based simulator designed to simulate large-scale robot swarms. ⭐ 301
- 🟢 ARTE - Matlab toolbox focussed on robotic manipulators. ⭐ 101
- 🟢 AVIS Engine - Fast simulation software for autonomous vehicle development. ⭐ 21
- 🟢 CARLA - Open-source simulator for autonomous driving research. ⭐ 13.5k
- 🟢 CoppeliaSim - Formaly V-REP. Virtual robot experimentation platform. ⭐ 138
- 💀 Gazebo - Dynamic multi-robot simulator. ⭐ 1.3k
- 🟢 Gazebo Sim - Open source robotics simulator (formerly Ignition Gazebo). ⭐ 1.2k
- 🔴 GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs. ⭐ 207
- 🟢 Habitat-Sim - Simulation platform for research in embodied artificial intelligence. ⭐ 3.5k
- 🟢 Hexapod Robot Simulator - Open-source hexapod robot inverse kinematics and gaits visualizer. ⭐ 681
- 🟢 Isaac Sim - NVIDIA's GPU-accelerated robotics simulation platform with PhysX 5 and RTX rendering. ⭐ 2.5k
- 🟢 ManiSkill - Robot simulation and manipulation learning package powered by SAPIEN. ⭐ 2.5k
- 🔴 MORSE - Modular open robots simulation engine. ⭐ 370
- Neurorobotics Platform - Internet-accessible simulation of robots controlled by spiking neural networks. [bitbucket]
- 🟢 PyBullet - An easy to use simulator for robotics and deep reinforcement learning. ⭐ 14.2k
- 🟢 PyBullet_Industrial - PyBullet extension for simulating robotic manufacturing processes like milling and 3D printing. ⭐ 48
- 🔴 Robot Gui - A three.js based 3D robot interface. ⭐ 384
- 🟢 SAPIEN - Physics-rich simulation environment for articulated objects and manipulation. ⭐ 714
- Simbad - Java 3D robot simulator with custom controller and sensor support.
- 🟡 Unity - Game engine with open-source robotics simulation tools and tutorials. ⭐ 2.5k
- 🟢 Webots - Development environment to model, program, and simulate robots and mechanical systems. ⭐ 4.1k
- Actin Simulation - Real-time robot simulation and control software.
- Artiminds - Planning, programming, operation, analysis and optimization.
- Kineo - Path planning and trajectory optimization for industrial robotics.
- Robot Virtual Worlds - Virtual reality software for educational robotics.
- RobotDK - Simulation and OLP for robots.
- RobotStudio - ABB's simulation and offline programming software for robotics.
- Virtual Robotics Toolkit - 3D virtual environment for programming and testing robots.
- Visual Components - 3D manufacturing simulation and visualization platform.
- AWS RoboMaker - Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale.
Related curated lists of robotics and AI resources.
- Awesome Robotics - Curated list of robotics resources (Kiloreux).
- Awesome Robotics - Curated list of robotics links and software libraries (ahundt).
- Awesome Robotic Tooling - Tooling for professional robotic development in C++ and Python with ROS and autonomous driving.
- Awesome Artificial Intelligence - Curated list of AI courses, books, video lectures, and papers.
- Awesome Collision Detection - Curated list of collision detection libraries and resources.
- Awesome Computer Vision - Curated list of computer vision resources.
- Awesome Machine Learning - Curated list of machine learning frameworks, libraries, and software.
- Awesome Deep Learning - Curated list of deep learning tutorials, projects, and communities.
- Awesome Gazebo - Curated list of Gazebo simulation framework resources.
- Awesome Grasping - Curated list of grasping libraries and resources.
- Awesome Human Robot Interaction - Curated list of human-robot interaction libraries and resources.
- Awesome Physical AI - Curated list of academic papers and resources on Physical AI.
- PythonRobotics - Python sample codes for robotics algorithms.
- Robotics Coursework - A list of robotics courses you can take online.
Contributions are very welcome! Please read the contribution guidelines first. Also, please feel free to report any error.
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