GitHub – jslee02/awesome-robotics-libraries: A curated list of robotics libraries and software

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

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

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

ODE
rigid

C++
LGPL-2.1 or BSD-3-Clause
bitbucket
pinocchio
rigid
ik, id, urdf, analytical derivatives, code generation
C++, Python
BSD-2-Clause
github

PositionBasedDynamics
(todo)
(todo)
C++
MIT
github

RBDL
rigid
ik,id,urdf
C++, Python
Zlib
github

RBDyn
rigid
(todo)
C++, Python
LGPL-3.0
github

RigidBodyDynamics.jl
rigid
(todo)
Julia
MIT “Expat”
github

Robopy
(todo)
(todo)
Python 3
MIT
github

robosuite
(todo)
(todo)
Python
MIT
github

Simbody
rigid, molecules
id, urdf
C++
Apache-2.0
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