A curated list of open source robotics simulators and libraries.

• Simulators
• Libraries
  • Dynamics Simulation
  • Machine Learning
  • Motion Planning
  • Optimization
  • Robot Modeling
  • Robot Platform
  • SLAM
  • Vision
• Other Awesome Lists
• Contributing

• AirSim (github ) - Open source simulator based on Unreal Engine for autonomous vehicles from Microsoft AI & Research
• Gazebo (bitbucket) - A dynamic multi-robot simulator from Open Robotics.
• GraspIt! (github ) - A simulator for grasping research that can accommodate arbitrary hand and robot designs developed by the Columbia University Robotics Group
• Isaac - Nvidia's virtual simulator for robots
• 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 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
Flex	rigid, soft, particle, fluid		C++		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

• 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 )

• 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.

• trajopt (github ) - A software framework for generating robot trajectories by local optimization.

• 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)

• phobos - An add-on for Blender allowing to create URDF and SMURF robot models in a WYSIWYG environment. (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.

• ViSP (github ) - A cross-platform library that allows prototyping and developing applications using visual tracking and visual servoing technics at the heart of the researches done by Inria Lagadic team.

• 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
• Awesome Gazebo

Contributions are very welcome! Please read the contribution guidelines first. Also, please feel free to report any error.