Awesome Robotics Libraries

A curated list of robotics simulators and libraries.

Table of Contents

• Simulators
• Libraries
  • Dynamics Simulation
  • Inverse Kinematics
  • Machine Learning
  • Motion Planning and Control
  • Optimization
  • Robot Modeling
  • Robot Platform
  • SLAM
  • Vision
  • Fluid
  • Multiphysics
  • Math
  • ETC
• Other Awesome Lists
• Contributing

Simulators

Free or Open Source

• AI2-THOR - Python framework with a Unity backend, providing interaction, navigation, and manipulation support for household based robotic agents [github ]
• AirSim - Simulator based on Unreal Engine for autonomous vehicles [github ]
• ARGoS - Physics-based simulator designed to simulate large-scale robot swarms [github ]
• ARTE - Matlab toolbox focussed on robotic manipulators [github ]
• AVIS Engine - Autonomous Vehicles Intelligent simulation software, A Fast and robust simulator software for Autonomous vehicle development. [github ]
• CARLA - Open-source simulator for autonomous driving research [github ]
• CoppeliaSim - Formaly V-REP. Virtual robot experimentation platform [github ]
• Gazebo - Dynamic multi-robot simulator [github ]
• GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs [github ]
• Habitat-Sim - Simulation platform for research in embodied artificial intelligence [github ]
• Hexapod Robot Simulator - Open-source hexapod robot inverse kinematics and gaits visualizer [github ]
• Ignition Gazebo - Open source robotics simulator [github ]
• Isaac Sim - Nvidia's robotic simulation environment with GPU physics simulation and ray tracing
• MORSE - Modular open robots simulation engine [github ]
• 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 [github ]
• PyBullet_Industrial - A extension to PyBullet that allows for the simulation of various robotic manufacturing processes such as milling or 3D-printing. [github ]
• Robot Gui - A three.js based 3D robot interface [github ]
• SAPIEN - A realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. [github ]
• Simbad - A Java 3D robot simulator, enables to write own robot controller with modifying environment using available sensors.
• Unity - Popular game engine that now offers open-source tools, tutorials, and resources for robotics simulation [github ]
• Webots - A complete development environment to model, program and simulate robots, vehicles and mechanical systems [github ]

Commercial

• Actin Simulation
• Artiminds - Planning, programming, operation, analysis and optimization
• Kineo - Path planning and trajectory optimization for industrial robotics and digital mock-up review applications
• RobotDK - Simulation and OLP for robots
• RobotStudio
• Robot Virtual Worlds
• Virtual Robotics Toolkit
• Visual Components

Cloud

• AWS RoboMaker - Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale

Libraries

Dynamics Simulation

: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	soft		C++
Bullet	rigid, soft	ik, id, urdf, sdf	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
Flex	rigid, soft, particle, fluid		C++		github
FROST	rigid		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
MBSim	(todo)	(todo)	C++	(not specified)	github
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
mvsim	vehicle	(todo)	C++	GPL-3.0	github