Adaptive remeshing cloth and shell simulator for thin deformable objects.

Massively parallel differentiable rigid body physics engine in JAX for robotics and RL.

Real-time physics simulation for games, visual effects, and robotics.

Multi-physics simulation of rigid and flexible bodies, granular, and fluid systems.

Dynamic Animation and Robotics Toolkit for multibody simulation and planning.

Planning, control, and analysis toolbox for nonlinear dynamical systems.

GPU-based particle simulation for rigid bodies, fluids, and deformables.

Fast Robot Optimization and Simulation Toolkit for hybrid dynamical systems in MATLAB.

Generative and universal physics platform for robotics with GPU-accelerated parallel simulation.

Impulse-based dynamics simulation for rigid bodies and particle systems.

Orocos Kinematics and Dynamics Library for kinematic chains.

Robot planning, control, and simulation with visualization support.

Open-source autopilot for UAVs and other autonomous vehicles.

Machina Arte Robotum Simulans — a cross-platform simulation environment.

General-purpose multibody dynamics analysis software. [code]

Multi-body simulation environment for flexible and rigid systems.

Lightweight multibody system dynamics library.

Multi-body dynamics simulation for rigid bodies with contact.

Mobile Robot Programming Toolkit for SLAM, navigation, and computer vision.

Multi-joint dynamics with contact for physics-based simulation and control.

Lightweight multi-vehicle 2D simulator with ROS integration.

GPU-accelerated differentiable physics engine built on NVIDIA Warp for robotics simulation.

Real-time physics engine for rigid body simulation.

2D and 3D rigid body physics engine written in Rust.

Open Dynamics Engine for simulating rigid body dynamics. [bitbucket]

Open Robotics Automation Virtual Environment for planning and simulation.

NVIDIA physics engine for real-time rigid body and vehicle simulation.

Fast and flexible algorithms for rigid-body dynamics with analytical derivatives.

Multibody dynamics analysis with symbolic Python using SymPy.

Cross-platform physics engine for robotics and reinforcement learning.

Rigid Body Dynamics Library based on Featherstone algorithms.

Open-source 3D physics engine for rigid body simulation and collision detection.

Soft-body vehicle simulator using beam physics.

Python robotics toolbox inspired by Peter Corke's Robotics Toolbox.

Self-contained C++ library for robot kinematics, planning, and control.

Framework for simulation and control of robot systems. [gitlab]

Nonsmooth dynamical systems modeling and simulation platform.

Multibody dynamics library for biomechanical and mechanical systems.

Simulation Open Framework Architecture for medical and physics simulation.

Simulation and optimal control using variational integrators.

A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots.

Python/PyTorch-based Research Framework for Embodied AI.

The Dynamic Neural Network Toolkit.

Lightweight C++ machine learning library for embedded electronics and robotics.

Developing and comparing reinforcement learning algorithms.; 🔴 gym-dart - OpenAI Gym environments using the DART…

Unified Machine Learning Framework.

One-click tool to score, filter, and export higher-quality LeRobot datasets.

Scalable C++ machine learning library.

A modular simulation framework and benchmark for robot learning.

Header only, dependency-free deep learning framework in C++14.

Solving robotic motion planning and decision making problems.

Open-Source C++ Library for Robotics, Optimal and Model Predictive Control.

Applications to solve position analysis and path planning problems.

A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster.

Path planning for kinematic chains in environments cluttered with obstacles.

Motion planning framework.

Open motion planning library.

Optimization Engine (OpEn) is a numerical optimization library written in Rust and a code generator in Python that…

Provides the implementations of common Motion planning algorithms, including path planners on N-D grid, controllers…

A computational problem that involves finding a sequence of valid configurations to move the robot from the source to…

Real-time, time-optimal and jerk-constrained online trajectory generation.

A robot simulation toolkit for motion planning.

Time-parameterizing robot trajectories subject to kinematic and dynamic constraints.

Expressive and efficient implementation of optimal control problems using template metaprogramming.

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Framework for generating robot trajectories by local optimization.

Cover tree data structure for quick k-nearest-neighbor search.

by Mike Izbicki et al., ICML 2015.

Fast Library for Approximate Nearest Neighbors.

Free and open source 3D voxel editor.

Iterative Closest Point library for 2-D/3-D mapping in Robotics.

Efficient Probabilistic 3D Mapping Framework Based on Octrees.

2D/3D image and point cloud processing.

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping.

Symbolic framework for algorithmic differentiation and numeric optimization.

Large scale nonlinear optimization library.

Parallel solvers for sparse linear systems featuring multigrid methods.

Large scale nonlinear optimization library.

Gaussian processes and Bayesian optimization of black-box functions.

Nonlinear optimization.

Lightweight C++ library of numerical optimization methods for nonlinear functions.

The Operator Splitting QP Solver.

Scientific library for massively parallel optimization.

The Advanced Proximal Optimization Toolbox.

Multi-objective Optimization in Python.

Numerical Optimization for Robotics.

Numerical optimization for solving large-scale convex cone problems.

XML format that describes objects and environments for robot simulators, visualization, and control. [bitbucket]

XML format for representing a robot model.

Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API.

High-performance testbed for advanced perception and control research.

ROS compatible ground robots.; 🔴 onine - Service Robot based on Linorobot and Braccio Arm.

a Micro-ROS fork available in the Arduino Library Manager.

Software framework for robotic systems.

Flexible framework for writing robot software.

Version 2.0 of the Robot Operating System (ROS) software stack.

Structured fault management for ROS 2 — persistent fault lifecycle, REST/SSE API, root cause correlation, and…

Communication and device interfaces applicable from humanoids to embedded devices.

Massively parallel differentiable rigid body physics engine in JAX for robotics and RL.

Single-file implementations of deep reinforcement learning algorithms.

GPU-accelerated open-source framework for robot learning built on NVIDIA Isaac Sim.

High-performance RL library used in Isaac Gym environments.

Modular reinforcement learning library with support for multiple ML frameworks.

Reliable implementations of reinforcement learning algorithms in PyTorch.

Novel direct and sparse formulation for Visual Odometry.

Simultaneous localization and mapping using fiducial markers.

Real-time monocular SLAM.

RGB-D Graph SLAM approach based on a global Bayesian loop closure detector.

Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies.

Curated list of SLAM-related datasets.

6D Pose Tracking for Novel Objects without 3D Models.

6D Pose Tracking for Novel Objects without 3D Models.

Visual Servoing Platform.

Fluid simulation engine for computer graphics applications.

Ptera Software is a fast, easy-to-use, and open-source software package for analyzing flapping-wing flight.

SDK for AnyGrasp, a 6-DoF grasp pose detection method.

6-DoF grasp generation for parallel-jaw grippers using contact maps.

Simulator for grasping research that can accommodate arbitrary hand and robot designs.

Python API and evaluation tools for the GraspNet benchmark.

Reinforcement learning environment for humanoid robot locomotion.

Open-source cognitive humanoid robotic platform for embodied cognition research.

Isaac Gym environments for legged robot locomotion training.

Collection of well-tuned MuJoCo models for research and development.

Framework for building parallel multi-disciplinary simulation software.

A fully integrated visualization and debugging desktop app for your robotics data.

Interactive household environment for embodied AI with Unity backend.

Physics-based simulator designed to simulate large-scale robot swarms.

Matlab toolbox focussed on robotic manipulators.

Fast simulation software for autonomous vehicle development.

Open-source simulator for autonomous driving research.

Formaly V-REP. Virtual robot experimentation platform.

Dynamic multi-robot simulator.

Simulator for grasping research that can accommodate arbitrary hand and robot designs.

Simulation platform for research in embodied artificial intelligence.

Open-source hexapod robot inverse kinematics and gaits visualizer.

NVIDIA's GPU-accelerated robotics simulation platform with PhysX 5 and RTX rendering.

Robot simulation and manipulation learning package powered by SAPIEN.

Modular open robots simulation engine.

Internet-accessible simulation of robots controlled by spiking neural networks. [bitbucket]

An easy to use simulator for robotics and deep reinforcement learning.

PyBullet extension for simulating robotic manufacturing processes like milling and 3D printing.

A three.js based 3D robot interface.

Physics-rich simulation environment for articulated objects and manipulation.

Java 3D robot simulator with custom controller and sensor support.

Game engine with open-source robotics simulation tools and tutorials.

Development environment to model, program, and simulate robots and mechanical systems.

Real-time robot simulation and control software.

Planning, programming, operation, analysis and optimization.

Path planning and trajectory optimization for industrial robotics.

Virtual reality software for educational robotics.

Simulation and OLP for robots.

ABB's simulation and offline programming software for robotics.

3D virtual environment for programming and testing robots.

3D manufacturing simulation and visualization platform.

Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale.