A curated list of robotics simulators and libraries.
- 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
]
- 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
- AWS RoboMaker - Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale
⚠️ 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 |  |
| Newton Dynamics | (todo) | (todo) | C++ | Zlib | github |  |
| nphysics | (todo) | (todo) | Rust | BSD-3-Clause | 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, urdf, analytical derivatives, code generation | C++, Python | BSD-2-Clause | github |  |
| PositionBasedDynamics | (todo) | (todo) | C++ | MIT | github |  |
| PhysX | (todo) | (todo) | C++ | unknown | github |  |
| PyDy | (todo) | (todo) | Python | BSD-3-Clause | github |  |
| RBDL | rigid | ik,id,urdf | C++, Python | Zlib | github |  |
| RBDyn | rigid | (todo) | C++, Python | LGPL-3.0 | github |  |
| RaiSim | (todo) | (todo) | C++ | custom | github |  |
| ReactPhysics3d | (todo) | (todo) | C++ | Zlib | github |  |
| RigidBodyDynamics.jl | rigid | (todo) | Julia | MIT "Expat" | github |  |
| Rigs of Rods | rigid, soft, vehicle | (todo) | C++ | GPL-3.0 | github |  |
| Robopy | (todo) | (todo) | Python 3 | MIT | github |  |
| Robotics Library | (todo) | (todo) | C++ | GPL-3.0 or BSD-2-Clause | github |  |
| RobWork | (todo) | (todo) | C++ | Apache-2.0 | gitlab | |
| siconos | (todo) | (todo) | C++, Python | Apache-2.0 | github |  |
| Simbody | rigid, molecules | id, urdf | C++ | Apache-2.0 | github |  |
| SOFA | rigid, soft, medical | (todo) | C++ | LGPL-2.1 | github |  |
| Tiny Differentiable Simulator | rigid | (todo) | C++, Python | Apache-2.0 | 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 (please find IK specialized packages in this list)
- 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
- IKBT - A python package to solve robot arm inverse kinematics in symbolic form [github
]
- Lively - A highly configurable toolkit for commanding robots in mixed modalities [github
]
- RelaxedIK - Real-time Synthesis of Accurate and Feasible Robot Arm Motion [github
]
- Trip - A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots [github
]
- AllenAct - Python/PyTorch-based Research Framework for Embodied AI [github
]
- DLL - Deep Learning Library (DLL) for C++ [github
]
- DyNet - The Dynamic Neural Network Toolkit [github
]
- Fido - Lightweight C++ machine learning library for embedded electronics and robotics [github
]
- Ivy - Unified Machine Learning Framework [github
]
- LeRobot - State-of-the-art approaches, pretrained models, datasets, and simulation environments for real-world robotics in PyTorch. [github
]
- MiniDNN - A header-only C++ library for deep neural networks [github
]
- mlpack - Scalable C++ machine learning library [github
]
- OpenAI Gym - Developing and comparing reinforcement learning algorithms [github
]
- RLLib - Temporal-difference learning algorithms in reinforcement learning [github
]
- robosuite - A modular simulation framework and benchmark for robot learning [github
]
- tiny-dnn - Header only, dependency-free deep learning framework in C++14 [github
]
- AIKIDO - Solving robotic motion planning and decision making problems. [github
]
- Bioptim - Bioptim, a Python Framework for Musculoskeletal Optimal Control in Biomechanics [github
]
- CuiKSuite - Applications to solve position analysis and path planning problems
- cuRobo - A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster. [github
]
- Control Toolbox - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control [github
]
- Crocoddyl - Optimal control library for robot control under contact sequence [github
]
- Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles [github
]
- GPMP2 - Gaussian Process Motion Planner 2 [github
]
- HPP - Path planning for kinematic chains in environments cluttered with obstacles [github]
- MoveIt! - Motion planning framework [github
]
- OMPL - Open motion planning library [bitbucket, github
]
- OCS2 - Efficient continuous and discrete time optimal control implementation [bitbucket]
- pymanoid - Humanoid robotics prototyping environment based on OpenRAVE [github
]
- ROS Behavior Tree - [github
]
- Ruckig - Real-time, time-optimal and jerk-constrained online trajectory generation. [github
]
- The Kautham Project - A robot simulation toolkit for motion planning [github
]
- TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [github
]
- Ungar - Expressive and efficient implementation of optimal control problems using template metaprogramming [github
]
- TopiCo - Time-optimal Trajectory Generation and Control [github
]
- towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots [github
]
- TrajectoryOptimization - A fast trajectory optimization library written in Julia [github
]
- trajopt - Framework for generating robot trajectories by local optimization [github
]
- Cover-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
]
- libpointmatcher - Iterative Closest Point library for 2-D/3-D mapping in Robotics [github
]
- Octree - Fast radius neighbor search with an Octree [github
]
- OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees [github
]
- PCL - 2D/3D image and point cloud processing [github
]
- Treexy - Brutally fast, sparse, 3D Voxel Grid [github
]
- voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields [github
]
- wavemap - Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping [github
]
- Utility Software
- CasADi - Symbolic framework for algorithmic differentiation and numeric optimization [github
]
- Ceres Solver - Large scale nonlinear optimization library [github
]
- eigen-qld - Interface to use the QLD QP solver with the Eigen3 library [github
]
- EXOTica - Generic optimisation toolset for robotics platforms [github
]
- hpipm - High-performance interior-point-method QP solvers (Ipopt, Snopt) [github
]
- HYPRE - Parallel solvers for sparse linear systems featuring multigrid methods [github
]
- ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt) [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
]
- lpsolvers - Linear Programming solvers in Python with a unified API [github
]
- NLopt - Nonlinear optimization [github
]
- OptimLib - Lightweight C++ library of numerical optimization methods for nonlinear functions [github
]
- OSQP - The Operator Splitting QP Solver [github
]
- Pagmo - Scientific library for massively parallel optimization [github
]
- ProxSuite - The Advanced Proximal Optimization Toolbox [github
]
- pymoo - Multi-objective Optimization in Python [github
]
- qpsolvers - Quadratic Programming solvers in Python with a unified API [github
]
- RobOptim - Numerical Optimization for Robotics. [github
]
- SCS - Numerical optimization for solving large-scale convex cone problems [github
]
- SHOT - A solver for mixed-integer nonlinear optimization problems [github
]
- sferes2 - Evolutionary computation [github
]
- SDF - XML format that describes objects and environments for robot simulators, visualization, and control (bitbucket)
- urdf - XML format for representing a robot model [github
]
- onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API [github
]
- phobos - Add-on for Blender creating URDF and SMURF robot models [github
]
- AutoRally - High-performance testbed for advanced perception and control research [github
]
- Linorobot - ROS compatible ground robots [github
]
- Micro-ROS for Arduino - a Micro-ROS fork available in the Arduino Library Manager
- Rock - Software framework for robotic systems
- ROS - Flexible framework for writing robot software [github repos]
- ROS 2 - Version 2.0 of the Robot Operating System (ROS) software stack [github repos]
- YARP - Communication and device interfaces applicable from humanoids to embedded devices [github
]
- AprilSAM - Real-time smoothing and mapping [github
]
- Cartographer - 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
]
- fiducials - Simultaneous localization and mapping using fiducial markers [github
]
- GTSAM - Smoothing and mapping (SAM) in robotics and vision [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
]
- RTAP-Map - RGB-D Graph SLAM approach based on a global Bayesian loop closure detector [github
]
- SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [github
]
- ViSP - Visual Servoing Platform [github
]
- BundleTrack - 6D Pose Tracking for Novel Objects without 3D Models [github
]
- se(3)-TrackNet - 6D Pose Tracking for Novel Objects without 3D Models [github
]
- Fluid Engine Dev - Jet - Fluid simulation engine for computer graphics applications [github
]
- Fastor - Light-weight high performance tensor algebra framework in C++11/14/17 [github
]
- linalg.h - Single header public domain linear algebra library for C++11 [github
]
- manif - Small c++11 header-only library for Lie theory. [github
]
- Sophus - Lie groups using Eigen [github
]
- SpaceVelAlg - Spatial vector algebra with the Eigen3 [github
]
- fuse - General architecture for performing sensor fusion live on a robot [github
]
- Foxglove Studio – A fully integrated visualization and debugging desktop app for your robotics data. Combines functionality of tools like
rviz,rqt, and more. Also available via web app.
- Awesome Robotics (Kiloreux)
- Awesome Robotics (ahundt)
- Awesome Robotic Tooling
- Awesome Artificial Intelligence
- Awesome Collision Detection
- Awesome Computer Vision
- Awesome Machine Learning
- Awesome Deep Learning
- Awesome Gazebo
- Awesome Grasping
- Awesome Human Robot Interaction
- PythonRobotics - Python sample codes for robotics algorithms
- Robotics Coursework - A list of robotics courses you can take online
Contributions are very welcome! Please read the contribution guidelines first. Also, please feel free to report any error.
