Robotics-Resources
List of commonly used robotics libraries and packages
Last updated Jun 9, 2026
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README
------------------------------------------------------------------------------------------------------------------- A curated list of libraries, softwares, simulators for robotics. Recently, I added a list of important books and conferences for Robotics.
Note: The data in this repository is updated and accurate to the best of my knowledge. In case of any correction, deletion or addition of information please raise an issue. A mail can also be written to [adwaitnaik2@gmail.com].
Table of Contents
- Libraries
- Visualization
- Robot Vision
- Robot Perception
- Motion Planning
- Graphics Engine/ Environments
- SLAM
- Some cool repositories
- Other essential packages and libraries
- Textbooks
- Scientific-journals
- Series-of-international-scientific-conferences
Libraries
Python-based libraries
- Pybotics - python based library for roboti kinematics and calibration. It is mainly designed to work on Denavit–Hartenberg parameters principle. [github
]
- PyBullet - a python module for physics simulation of robots, loading URDF, SDF, MJCF files etc.[github
]
- Pygame - a library for used for game development and creating objects in 2D space.[github
]
- pclpy 0.11.0 - a library used for creating point clouds for applications related to computer vision, robotics and computer graphics. [github
]
- collision - this library is mainly used for collision checking in 2D space along with pygame. [github
]
- Ropy - A library by Peter Corke based on the paper "Maximising manipulability during resolved-rate motion control,".[github
][Paper]
- pybotvac - This is an unofficial API for controlling Neato Botvac Connected vacuum robots. [github
]
- pybot - Research tools for autonomous systems using Python. [github
]
- PyBot - a python module for creating and deploying twitter bots. [github
]
- pybotgram - A Telegram Bot written in Python with plugins based in yagop telegram-bot using tg. [github
]
- pyrobottraining- This is a repository that can be used as a tool to teach you about programming an FRC robot using python and the RobotPy WPILib libraries.[github
]
- airobot - AIRobot is a python library to interface with robots. It follows a similar architecture from PyRobot. [github
]
- ropy - A successor to the famous Peter Corke's robotics toolbox, this library is written in python to control robots in a simulated environments. [github]
C++ based libraries
- MRPT - Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision. [github
]
- Flexible collision library - this is mainly used for collision checking in 3D space in motion planning. [github
]
- Trajopt - is a C++ based library by UC berkeley for Motion planning, trajectory optimisation, etc. [github
]
- Eprosima - eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium [github
]
- Sophus - This is a c++ implementation of Lie groups commonly used for 2d and 3d geometric problems (i.e. for Computer Vision or Robotics applications).[github
]
- ModernRoboticsCpp - Mechanics, Planning, and Control C++ Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. [github
]
- FIESTA: Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. [github
]
Visualization
- VTKexamples - a library based on pyhton for collision detection, making 3D meshes etc. [github
]
- Pyglet - a library primarily used for game development and computer graphics applications.[github
]
- PyOpenGL - a cross platform library based on python and OpenGL. [github
]
Robot Vision
- OpenCV - OpenCV (Open Source Computer Vision Library) is an open source computer vision and machine learning software library. OpenCV was built to provide a common infrastructure for computer vision applications and to accelerate the use of machine perception in the commercial products. [github
]
- SimpleCV - SimpleCV is an open source framework for building computer vision applications. With it, you get access to several high-powered computer vision libraries such as OpenCV – without having to first learn about bit depths, file formats, color spaces, buffer management, eigenvalues, or matrix versus bitmap storage. [github
]
- ViSP - Visual Servoing Platform [github
]
Robot Perception
- CUDA Visual Library - This library focuses on the front-end of VIO pipelines.[github
]
Motion Planning
- sparse-rrt 0.0.2 - This package is based on Sparse-RRT project sparserrt.The main purpose of this work is to allow running Sparse-RRT planner in python environment.[github
]
- OMPL - OMPL, the Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms. OMPL itself does not contain any code related to, e.g., collision checking or visualization.[github
]
- MPL - Motion Planning Kit (MPK) is a C++ library and toolkit for developing single- and multi-robot motion planners.Documentaion
- Robotics Library - The Robotics Library (RL) is a self-contained C++ library for robot kinematics, motion planning and control. It covers mathematics, kinematics and dynamics, hardware abstraction, motion planning, collision detection, and visualization.Documentation
- SIMOX - The aim of the lightweight platform independent C++ toolbox Simox is to provide a set of algorithms for 3D simulation of robot systems, sampling based motion planning and grasp planning.[github
]
- AIKIDO - Solving robotic motion planning and decision making problems. [github
]
- TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints [github
]
- The Kautham Project - A robot simulation toolkit for motion planning [github
]
- ROS Behavior Tree - [github
]
- OCS2 - Efficient continuous and discrete time optimal control implementation [bitbucket]
- GPMP2 - Gaussian Process Motion Planner 2 [github
]
- Crocoddyl - Optimal control library for robot control under contact sequence [github
]
- Control Toolbox - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control [github
]
- Tesseract - A major planning framework for forward and inverse kinematics. [github
]
- MRSL - A search-based planner for quadcoptors in obstacle cluttered environment. [github
]
Graphics Engine/ Environments
- OpenRave( Open Robotics Automation Virtual Environment) - it focuses on developing and testing motion planning algorithms for robotic applications. It is available in C++, Python. Documentation
- Webots - It provides a complete development environment to model, program and simulate robots, vehicles and biomechanical systems.[github
]
- Stage - Stage is a 2(.5)D robotics standalone simulator and can also be used as a C++ library to build your own simulation environment. [github
]
- Player - is one of the most popular mobile robot simulator. [github
]
- RoboDK - is a robot simulator which allows programming and simulating any robot online and offline. It is mailny used for industrial applications. [github
]
- Mobile Robot Simulator - Mobile robot simulator in MATLAB.[github
]
SLAM
- 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
]
Other essential packages and libraries
- ROS - ROS is a meta-operating system for your robot. It provides language-independent and network-transparent communication for adistributed robot control system. [github
)]
- trimesh - a package for loading and making meshes. [github
]
- Tkinter - a package used for visualization. documentation tutorial
- Pymesh - is a python based rapid prototyping platform for geometric and computer vision applications.[github
]
- Mesh -A Processing library for computing convex hulls, delaunay graphs and voronoi graphs from groups of points.[github
]
- OpenMesh - A generic and efficient polygon mesh data structure. Relocated-to-this [Docs]
- libigl - A simple C++ geometry processing library[github
]
- PyGEL - Python library for geometry processing [github
] [Docs]
- pmp-library - C++ based library for processing and generating meshes. [github
]
- Delynoi: an object-oriented C++ library for the generation of polygonal meshes [github
]
- Cinolib: a Generic Programming Header Only C++ Library for Processing Polygonal and Polyhedral Meshes[github
] paper
- cilantro - A lean C++ library for working with point cloud data.[github
]
- PDAL - Point Data Abstraction Library, is a C++ BSD library for translating and manipulating point cloud data. It is very much like the GDAL library which handles raster and vector data.[github
]
- LEPCC - Limited Error Point Cloud Compression, a library written in C++ for point cloud compression.[github
]
- chainer - flexible framework for working with neural networks. [github
]
- shogun - a machine learning toolbox build on C++. It also supports python. [github
]
- Apache Spark - Spark is a unified analytics engine for large-scale data processing. [github
]
- Pinocchio - instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm. [github
]
- Crocoddyl - Contact RObot COntrol by Differential DYnamic programming Library. [github]
- FCL- FCL is a library for performing three types of proximity queries on a pair of geometric models composed of triangles.. [github]
Textbooks
- R.P. Paul, Robot Manipulators: Mathematics, Programming, and Control MIT Press, Cambridge, MA, 1981.
Scientific journals
- Advanced Robotics
- Autonomous Robots
- IEEE Robotics and Automation Magazine
- IEEE Transactions on Robotics
- International Journal of Robotics Research
- Journal of Field Robotics
- Journal of Intelligent and Robotic Systems
- Robotica
- Robotics and Autonomous Systems
- Frontiers in Robotics and AI
- International Journal of Social Robotics
- Soft Robotics
- Science Robotics
- Robotics and Computer-Integrated Manufacturing
- EEE Robotics and Automation Letters
- IEEE/RSJ International Conference on Intelligent Robots and Systems
Series of international scientific conferences
- IEEE International Conference on Robotics and Automation
- IEEE/RSJ International Conference on Intelligent Robots and Systems
- International Conference on Advanced Robotics
- International Symposium of Robotics Research
- International Symposium on Experimental Robotics
- Robotics: Science and Systems
- ACM/IEEE International Conference on Human Robot Interaction
- Robotics: Science and Systems
