A curated list of open source robotics libraries and software.
⚠️ 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 |
|---|---|---|---|---|---|---|
| Bullet | rigid, soft | ik, id | C++, Python | Zlib | github |  |
| CHRONO::ENGINE | rigid, soft, granular, fluid | ik, urdf | C++, Python | BSD-3-Clause | github |  |
| DART | rigid, soft | ik, id, plan, urdf, sdf | C++, Python | BSD-2-Clause | github |  |
| Drake | rigid, aero, fluid | ik, trj-opt, plan | C++, Matlab | BSD-3-Clause | github |  |
| IBDS | rigid, particle | C++ | Zlib | |||
| idyntree | rigid | id | C++, Python, Matlab, Lua | LGPL-2.1 | github |  |
| KDL | rigid | ik | C++ | LGPL-2.1 | github |  |
| kindr | rigid | (todo) | C++, Matlab | BSD-3-Clause | github |  |
| Klampt | (todo) | (todo) | C++, Python | BSD-3-Clause | github |  |
| LibrePilot | uav, vehicles | (todo) | C++ | GPL-3.0 | bitbucket, github |  |
| MARS | (todo) | (todo) | C++, Python | LGPL-3.0 | github |  |
| MBDyn | (todo) | (todo) | C++ | GPL-2.1 | download | |
| MBSlib | (todo) | (todo) | C++ | LGPL-3.0 | github |  |
| metapod | (todo) | (todo) | C++ | LGPL-3.0 | github |  |
| Moby | rigid | id | C++ | GPL-2.0 | github |  |
| mrpt | vehicle | slam, cv | C++, Python, Matlab | BSD-3-Clause | github |  |
| MuJoCo | (todo) | id | C++, Python | licenses | closed source | |
| Newton Dynamics | (todo) | (todo) | C++ | Zlib | github |  |
| ODE | rigid | C++ | LGPL-2.1 or BSD-3-Clause | bitbucket | ||
| OpenRAVE | (todo) | (todo) | C++, Python | LGPL-3.0 | github |  |
| pinocchio | rigid | ik, id | C++, Python | LGPL-3.0 | github |  |
| PositionBasedDynamics | (todo) | (todo) | C++ | MIT | github |  |
| PyDy | (todo) | (todo) | Python | BSD-3-Clause | github |  |
| RBDL | rigid | ik | C++, Python | LGPL-3.0 | bitbucket | |
| RBDyn | rigid | (todo) | C++, Python | LGPL-3.0 | github |  |
| ReactPhysics3d | (todo) | (todo) | C++ | Zlib | github |  |
| Robotics Library | (todo) | (todo) | C++ | GPL-3.0 or BSD-2-Clause | github |  |
| RobWork | (todo) | (todo) | C++ | Apache-2.0 | SVN (id/pw required) | |
| siconos | (todo) | (todo) | C++, Python | Apache-2.0 | github |  |
| Simbody | rigid, molecules | id, urdf | C++ | Apache-2.0 | github |  |
| SOFA | medical | (todo) | C++ | LGPL-2.1 | github |  |
| trep | rigid | dm, trj-opt | C, Python | GPL-3.0 | github |  |
| qu3e | rigid | - | C++ | Zlib | github |  |
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
- ik: inverse kinematics solvers
- id: inverse dynamics
- slam: simultaneous localization and mapping
- trj-opt: trajectory optimization
- plan: motion planning algorithms
- cv: computer visionn
- urdf: urdf parser
- sdf: sdf parser
- Aikido (github
) - A C++ library for solving robotic motion planning and decision making problems.
- CuiKSuite - A set of applications to solve position analysis and path planning problems with applications mainly to robotics, but also to molecular biology
- HPP (github) - Humanoid Path Planner: a C++ Software Developement Kit implementing path planning for kinematic chains in environments cluttered with obstacles.
- MoveIt! (github
) - State of the art software for mobile manipulation, incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation.
- OMPL (bitbucket, github
) - The Open Motion Planning Library.
- Cover-Tree (github
) - A well-documented C++ implementation of the cover tree datastructure for quick k-nearest-neighbor search
- Faster cover tree by Mike Izbicki et al., ICML 2015.
- FLANN (github
) - Fast Library for Approximate Nearest Neighbors
- nanoflann (github
) - C++ header-only library for Nearest Neighbor (NN) search wih KD-trees
-
OctoMap (github
) - An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
-
voxblox (github
) - A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
- CasADi (github
) - A symbolic framework for algorithmic (a.k.a. automatic) differentiation and numeric optimization
- Ceres Solver (github
) - A large scale non-linear optimization library . Ceres Solver has been used in production at Google for more than four years now. It is clean, extensively tested and well documented code that is actively developed and supported.
- Ipopt (github
) - Ipopt (Interior Point OPTimizer, pronounced eye-pea-Opt) is a software package for large-scale nonlinear optimization.
- NLopt (github
) - NLopt is a free/open-source library for nonlinear optimization, providing a common interface for a number of different free optimization routines available online as well as original implementations of various other algorithms.
- SCS (github
) - SCS (Splitting Conic Solver) is a numerical optimization package for solving large-scale convex cone problems, based on our paper Conic Optimization via Operator Splitting and Homogeneous Self-Dual Embedding.
- SDF - XML format that describes objects and environments for robot simulators, visualization, and control. (bitbucket)
- urdf - XML format for representing a robot model. (github)
- ROS (github repos) - A set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project.
- YARP (github) - A library and toolkit for communication and device interfaces, used on everything from humanoids to embedded devices.
- Cartographer (github
) - A system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
- DSO (github
) - DSO is a novel direct and sparse formulation for Visual Odometry.
- ElasticFusion (github
) - Real-time dense visual SLAM system capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments explored using an RGB-D camera.
- Kintinuous (github
) - Real-time dense visual SLAM system capable of producing high quality globally consistent point and mesh reconstructions over hundreds of metres in real-time with only a low-cost commodity RGB-D sensor.
- LSD-SLAM (github
) - LSD-SLAM is a novel approach to real-time monocular SLAM. It is fully direct (i.e. does not use keypoints / features) and creates large-scale, semi-dense maps in real-time on a laptop.
- ORB-SLAM2 (github
) - A real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale).
- SRBA (github
) - Sparser Relative Bundle Adjustment (SRBA) is a header-only C++ library for solving SLAM/BA in relative coordinates with flexibility for different submapping strategies and aimed at constant time local graph update. BSD 3-Clause License.
- OpenAI Gym (github
) - A toolkit for developing and comparing reinforcement learning algorithms. It supports teaching agents everything from walking to playing games like Pong or Go.
- OpenAI Gym with DART (github
)
- OpenAI Gym with DART (github
- Gazebo (bitbucket) - A dynamic multi-robot simulator.
- GraspIt! (github) - A simulator for grasping research that can accommodate arbitrary hand and robot designs developed by the Columbia University Robotics Group
- MORSE (github) - The Modular OpenRobots Simulation Engine.
- V-REP - Virtual robot experimentation platform.
- Virtual Robotics Toolkit
- Webots - A commercial robot simulator used in more than 1200 companies, universities and research centers worldwide for R&D, education and research.
The comparisons are moved to COMPARISONS.md.
- Awesome Robotics - This is a list of various books, courses and other resources for robotics. It's an attempt to gather useful material in one place for everybody who wants to learn more about the field.
- Awesome Robotics - Awesome links and software libraries that are useful for robots.
- Awesome Artificial Intelligence
- Awesome Collision Detection
- Awesome Computer Vision
- Awesome Machine Learning
- Awesome Deep Learning
Contributions are very welcome! Please read the contribution guidelines first. Also, please feel free to report any error.
