NameModelsFeaturesLanguagesLicensesCodePopularityARCSimsoftC++
Bulletrigid, softik, idC++, PythonZlibgithub
CHRONO::ENGINErigid, soft, granular, fluidik, urdfC++, PythonBSD-3-Clausegithub
DARTrigid, softik, id, plan, urdf, sdfC++, PythonBSD-2-Clausegithub
Drakerigid, aero, fluidik, trj-opt, planC++, MatlabBSD-3-Clausegithub
Flexrigid, soft, particle, fluidC++github
FROSTrigidMATLABBSD-3-Clausegithub
IBDSrigid, particleC++Zlib
idyntreerigididC++, Python, Matlab, LuaLGPL-2.1github
KDLrigidikC++LGPL-2.1github
kindrrigid(todo)C++, MatlabBSD-3-Clausegithub
Klampt(todo)(todo)C++, PythonBSD-3-Clausegithub
LibrePilotuav, vehicles(todo)C++GPL-3.0bitbucket, github
MARS(todo)(todo)C++, PythonLGPL-3.0github
MBDyn(todo)(todo)C++GPL-2.1download
MBSim(todo)(todo)C++(not specified)github
MBSlib(todo)(todo)C++LGPL-3.0github
metapod(todo)(todo)C++LGPL-3.0github
MobyrigididC++GPL-2.0github
mrptvehicleslam, cvC++, Python, MatlabBSD-3-Clausegithub
MuJoCo(todo)idC++, Pythonlicensesclosed source
Newton Dynamics(todo)(todo)C++Zlibgithub
nphysics(todo)(todo)RustBSD-3-Clausegithub
ODErigidC++LGPL-2.1 or BSD-3-Clausebitbucket
OpenRAVE(todo)(todo)C++, PythonLGPL-3.0github
pinocchiorigidik, idC++, PythonLGPL-3.0github
PositionBasedDynamics(todo)(todo)C++MITgithub
PyDy(todo)(todo)PythonBSD-3-Clausegithub
RBDLrigidikC++, PythonLGPL-3.0bitbucket
RBDynrigid(todo)C++, PythonLGPL-3.0github
ReactPhysics3d(todo)(todo)C++Zlibgithub
Robopy(todo)(todo)Python 3MITgithub
Robotics Library(todo)(todo)C++GPL-3.0 or BSD-2-Clausegithub
RobWork(todo)(todo)C++Apache-2.0SVN (id/pw required)
siconos(todo)(todo)C++, PythonApache-2.0github
Simbodyrigid, moleculesid, urdfC++Apache-2.0github
SOFArigid, soft, medical(todo)C++LGPL-2.1github
treprigiddm, trj-optC, PythonGPL-3.0github
qu3erigid-C++Zlibgithub
For simplicity, shortened names are used to represent the supported models and features asSupported Modelsrigid: 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 Designdm: discrete mechanics
ik: inverse kinematics solvers
id: inverse dynamics
slam: simultaneous localization and mapping
trj-opt: trajectory optimization
plan: motion planning algorithms
cv: computer vision
urdf: urdf parser
sdf: sdf parser
Machine LearningOpenAI Gym - Developing and comparing reinforcement learning algorithms [github]gym-dart [github]
gym-gazebo [github]
Motion Planning and ControlAikido - Solving robotic motion planning and decision making problems. [github]
CuiKSuite - Applications to solve position analysis and path planning problems
Control Toolbox - Control, estimation, optimization and motion planning in robotics [bitbucket]
HPP - Path planning for kinematic chains in environments cluttered with obstacles [github]
MoveIt! - Motion planning framework [github]
OMPL - Open motion planning library [bitbucket, github]Motion Optimizertrajopt - Framework for generating robot trajectories by local optimization [github]Nearest NeighborCover-Tree - Cover tree data structure for quick k-nearest-neighbor search [github]Faster cover trees by Mike Izbicki et al., ICML 2015.
FLANN - Fast Library for Approximate Nearest Neighbors [github]
nanoflann - Nearest Neighbor search with KD-trees [github]3D MappingOctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees [github]
voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields [github]
OptimizationCasADi - Symbolic framework for algorithmic differentiation and numeric optimization [github]
Ceres Solver - Large scale nonlinear optimization library [github]
Ipopt - Large scale nonlinear optimization library [github]
libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm [github]
limbo - Gaussian processes and Bayesian optimization of black-box functions [github]
NLopt - Nonlinear optimization [github]
RobOptim - Numerical Optimization for Robotics. [github]
SCS - Numerical optimization for solving large-scale convex cone problems [github]
sferes2 - Evolutionary computation [github]
Robot ModelingRobot Model Description FormatSDF - XML format that describes objects and environments for robot simulators, visualization, and control (bitbucket)
urdf - XML format for representing a robot model [github]Utility to Build Robot Modelsphobos - Add-on for Blender creating URDF and SMURF robot models [github]
Robot PlatformLinorobot - ROS compatible ground robots [github]onine - Service Robot based on Linorobot and Braccio Arm [github]
Rock - Software framework for robotic systems
ROS - Flexible framework for writing robot software [github repos]
YARP - Communication and device interfaces applicable from humanoids to embedded devices [github]
SLAMCartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations [github]
DSO - Novel direct and sparse formulation for Visual Odometry [github]
ElasticFusion - Real-time dense visual SLAM system [github]
Kintinuous - Real-time large scale dense visual SLAM system [github]
LSD-SLAM - Real-time monocular SLAM [github]
ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras [github]
SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [github]
VisionViSP - Visual Servoing Platform [github]
Other Awesome ListsAwesome Robotics (Kiloreux)
Awesome Robotics (ahundt)
Awesome Artificial Intelligence
Awesome Collision Detection
Awesome Computer Vision
Awesome Machine Learning
Awesome Deep Learning
Awesome Gazebo
PythonRobotics
Contributing
Contributions are very welcome! Please read the contribution guidelines first. Also, please feel free to report any error.
License