DART
DART: Dynamic Animation and Robotics Toolkit - Published in JOSS (2018)
movement_primitives
movement_primitives: Imitation Learning of Cartesian Motion with Movement Primitives - Published in JOSS (2024)
wrenfold
wrenfold: Symbolic code generation for robotics - Published in JOSS (2025)
Pycapacity
Pycapacity: a real-time task-space capacity calculation package for robotics and biomechanics - Published in JOSS (2023)
ugv_nav4d
ugv_nav4d: Advanced Multi-Surface Navigation for Unmanned Ground Vehicles Using 4D Path Planning Techniques - Published in JOSS (2024)
Manif
Manif: A micro Lie theory library for state estimation in robotics applications - Published in JOSS (2020)
PySwarming
PySwarming: a research toolkit for Swarm Robotics - Published in JOSS (2023)
A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators
A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators - Published in JOSS (2024)
OpenTera
OpenTera: A Framework for Telehealth Applications - Published in JOSS (2023)
stable-baselines3
PyTorch version of Stable Baselines, reliable implementations of reinforcement learning algorithms.
sbp-env
sbp-env: A Python Package for Sampling-based Motion Planner and Samplers - Published in JOSS (2021)
pyoptas
OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
IncrementalInference
Clique recycling non-Gaussian (multi-modal) factor graph solver; also see Caesar.jl.
Caesar
Robust robotic localization and mapping, together with NavAbility(TM). Reach out to info@wherewhen.ai for help.
awesome-implicit-nerf-robotics
A comprehensive list of Implicit Representations and NeRF papers relating to Robotics/RL domain, including papers, codes, and related websites
sb3-contrib
Contrib package for Stable-Baselines3 - Experimental reinforcement learning (RL) code
torchrl
A modular, primitive-first, python-first PyTorch library for Reinforcement Learning.
ruckig
Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
wrapyfi
Robotics MOM and RPC middleware wrapper with deep-learning framework integration
marlware
Multi-Robot Warehouse (RWARE): A multi-agent reinforcement learning environment
code-release
A repository analyzing the impact of open-source code in machine learning, robotics, and controls research
vmas
VMAS is a vectorized differentiable simulator designed for efficient Multi-Agent Reinforcement Learning benchmarking. It is comprised of a vectorized 2D physics engine written in PyTorch and a set of challenging multi-robot scenarios. Additional scenarios can be implemented through a simple and modular interface.
rafcon
RAFCON (RMC advanced flow control) uses hierarchical state machines, featuring concurrent state execution, to represent robot programs. It ships with a graphical user interface supporting the creation of state machines and contains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generated using RAFCON's API.
ClosedLoopReachability
Reachability analysis for closed-loop control systems in Julia
mani-skill
SAPIEN Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark, led by Hillbot, Inc.
depth-from-motion
[ECCV 2022 oral] Monocular 3D Object Detection with Depth from Motion
https://github.com/ami-iit/jaxsim
A differentiable physics engine and multibody dynamics library for control and robot learning.
icub-gazebo-grasping-sandbox
A public sandbox for simulating grasping in Gazebo with the iCub humanoid
paper_bergonti_2022_tro_kinematics-control-morphingcovers
Supplementary Material "Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots" published in IEEE Transactions on Robotics 2022
reductstore
High Performance Storage and Streaming Solution for Data Acquisition Systems
https://github.com/moble/quaternion
Add built-in support for quaternions to numpy
wifi-based-landmark-estimation
Research project files concerning non-stationary landmark localization
https://github.com/rerun-io/rerun
Visualize streams of multimodal data. Free, fast, easy to use, and simple to integrate. Built in Rust.
https://github.com/facebookresearch/habitat-lab
A modular high-level library to train embodied AI agents across a variety of tasks and environments.
Pybotics
Pybotics: Python Toolbox for Robotics - Published in JOSS (2019)
fiss_planner
[RA-L 2022] FISS: A Trajectory Planning Framework using Fast Iterative Search and Sampling Strategy for Autonomous Driving
https://github.com/compas-dev/compas_xr
COMPAS XR streamlines extended reality workflows to ease the implementation of human-machine collaborative applications in architectural research and educational environments.
benchmarl
BenchMARL is a library for benchmarking Multi-Agent Reinforcement Learning (MARL). BenchMARL allows to quickly compare different MARL algorithms, tasks, and models while being systematically grounded in its two core tenets: reproducibility and standardization.
kinova_isaaclab_sim2real
Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.
https://github.com/compas-dev/compas_fab
Robotic fabrication package for the COMPAS Framework.
proxsuite-nlp
A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.
ros-gazebo-gym
Framework for integrating ROS and Gazebo with gymnasium, streamlining the development and training of RL algorithms in realistic robot simulations.
belay
Belay is a python library that enables the rapid development of projects that interact with hardware via a micropython-compatible board.
tap_llm_course
Materials for the TAP (Tendencias en Aprendizaje Pronfundo) subject from the Master in Robotics and Artificial Intelligence from the Universidad de León
aeolus-ocean
An all-weather, day-and-night, collision avoidance simulator that can be implemented as a digital twin for the autonomous COLREG-compliant navigation of maritime vessels.
ros-gazebo-gym-ws
A Catkin workspace designed to simplify the setup and use of the ROS Gazebo Gym framework.
gymnasium-robotics
A collection of robotics simulation environments for reinforcement learning
ros-gazebo-gym-examples
A set of practical examples showcasing the use of gymnasium environments in the ros-gazebo-gym package.
compas_rrc
Online control for ABB robots over a simple-to-use Python interface.
TriP
TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots - Published in JOSS (2022)
paper_bergonti_2024_icra_codesign-morphing-drones
Supplementary Material "Co-Design Optimisation of Morphing Topology and Control of Winged Drones" published in IEEE 2024 International Conference on Robotics and Automation (ICRA)
https://github.com/ami-iit/paper_tirupachuri-2021-access-estimation_payload_stresses
Improving the quality of work for human beings is receiving a lot of attention from multiple research communities. This paper focuses on the open problem of estimating the interaction wrench experienced at the human extremities (such as hands), where the feasibility of direct sensor measurements is not practical.
ir-sim
A Python based lightweight robot simulator for the development of algorithms in robotics navigation, control, and learning.
https://github.com/sail-sg/envpool
C++-based high-performance parallel environment execution engine (vectorized env) for general RL environments.
https://github.com/ami-iit/paper_latella_2021_thms_overhead-exoskeleton-torque
Analysis of the human whole-body kinematics and dynamics during the execution of a typical overhead task to quantify the assistive support given by the exoskeleton.
https://github.com/ami-iit/adam
adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
https://github.com/bark-simulator/bark
Open-Source Framework for Development, Simulation and Benchmarking of Behavior Planning Algorithms for Autonomous Driving
robo-gym
An open source toolkit for Distributed Deep Reinforcement Learning on real and simulated robots.
seglight
Super fast and real-time semantic segmentation (cpu only) can be use for 1 core cpu
mujoco_menagerie
A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.
https://github.com/cyberorigin2077/open_cyber_glove
Python SDK for OpenCyberGlove 🧤
https://github.com/compas-dev/compas_slicer
Slicing package for FDM 3D Printing with COMPAS.
https://github.com/artivis/kalmanif
A small collection of Kalman Filters on Lie groups
https://github.com/ami-iit/rod
The ultimate Python tool for RObot Descriptions processing.
https://github.com/avgupta456/statbotics
📈 Modernizing Data Analytics for FRC Robotics
https://github.com/ami-iit/robot-log-visualizer
Visualizer to display the data logged with YarpRobotLoggerDevice
https://github.com/google-research/ravens
Train robotic agents to learn pick and place with deep learning for vision-based manipulation in PyBullet. Transporter Nets, CoRL 2020.
https://github.com/ami-iit/liecasadi
Rigid transform using Lie groups and Dual Quaternions, written in CasADi!
https://github.com/ami-iit/blend-my-bot
Import your robot in blender and animate it!
https://github.com/araffin/robotics-rl-srl
S-RL Toolbox: Reinforcement Learning (RL) and State Representation Learning (SRL) for Robotics
https://github.com/artivis/laser_odometry_csm
A laser_odometry wrapper for csm.