Awesome Robotics Libraries

Awesome

A curated list of robotics libraries and simulators.

Contents

Legend: 🟢 commit within 1 yr · 🟡 commit within 3 yr · 💀 archived · ⭐ GitHub stars as of 2026-10-12. Entries are ordered by stars; inactive entries (archived, or no commits for 3+ years) are folded at the end of each category.

Middleware & Frameworks

Communication middleware, robot software frameworks, runtime services such as launch and diagnostics, and agent orchestration for robots.

Robot Hardware & Drivers

Open robot platforms and hardware designs, and drivers or firmware for sensors and actuators.

Inactive (3): archived or no commits for 3+ years</summary>

  • Linorobot - ROS compatible ground robots. ⭐ 1.1k · last commit 2022
    • onine - Service Robot based on Linorobot and Braccio Arm. ⭐ 50 · last commit 2018
  • AutoRally - High-performance testbed for advanced perception and control research. ⭐ 791 · last commit 2021

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Robot Description & Models

Robot description formats (URDF, SDF, MJCF, USD), their parsers and exporters, and robot model collections.

  • 🟢 MuJoCo Menagerie - Collection of well-tuned MuJoCo models for research and development. ⭐ 4.2k
  • 🟢 phobos - Add-on for Blender creating URDF and SMURF robot models. ⭐ 908
  • 🟢 onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API. ⭐ 638
  • 🟢 urdf - XML format for representing a robot model. ⭐ 138
  • SDF - XML format that describes objects and environments for robot simulators, visualization, and control. [bitbucket]

Kinematics & Dynamics

Forward and inverse kinematics and rigid-body dynamics algorithms, without contact time-stepping.

  • 🟢 pinocchio - Fast and flexible algorithms for rigid-body dynamics with analytical derivatives. ⭐ 3.8k
  • 🟡 Robotics Library - Self-contained C++ library for robot kinematics, planning, and control. ⭐ 1.2k
  • 🟢 KDL - Orocos Kinematics and Dynamics Library for kinematic chains. ⭐ 904
  • 🟡 RBDL - Rigid Body Dynamics Library based on Featherstone algorithms. ⭐ 708
  • 🟢 PyDy - Multibody dynamics analysis with symbolic Python using SymPy. ⭐ 416
  • 🟡 RigidBodyDynamics.jl - Julia library for rigid body dynamics algorithms. ⭐ 312
  • 🟢 idyntree - Library for estimation and whole-body dynamics of floating-base robots. ⭐ 234
  • 🟢 RBDyn - Rigid body dynamics algorithms using spatial algebra with Eigen. ⭐ 224
  • 🟢 ARTE - Matlab toolbox focussed on robotic manipulators. ⭐ 106
  • RobWork - Framework for simulation and control of robot systems. [gitlab]

Inverse Kinematics

  • 🟢 IKBT - A python package to solve robot arm inverse kinematics in symbolic form. ⭐ 220
  • 🟢 ssik - Analytical inverse kinematics for 6R and 7R revolute robot arms, returning every IK branch. ⭐ 188
  • 🟢 Kinpy - A simple pure python package to solve inverse kinematics. ⭐ 181

Inactive (6): archived or no commits for 3+ years</summary>

  • RelaxedIK - Real-time Synthesis of Accurate and Feasible Robot Arm Motion. ⭐ 254 · last commit 2023
  • Robopy - Python robotics toolbox inspired by Peter Corke’s Robotics Toolbox. ⭐ 229 · last commit 2021
  • Trip - A python package that solves inverse kinematics of parallel-, serial- or hybrid-robots. ⭐ 43 · last commit 2022
  • trep - Simulation and optimal control using variational integrators. ⭐ 20 · last commit 2023
  • 💀 metapod - Template-based robot dynamics library using spatial algebra. ⭐ 14 · last commit 2018
  • Lively - A highly configurable toolkit for commanding robots in mixed modalities. ⭐ 8 · last commit 2023

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Physics Engines

Embeddable engines that time-step rigid, soft, fluid, or particle dynamics with contact. See also Comparisons.

  • 🟢 Genesis - Generative and universal physics platform for robotics with GPU-accelerated parallel simulation. ⭐ 30k
  • 🟢 MuJoCo - Multi-joint dynamics with contact for physics-based simulation and control. ⭐ 15.6k
  • 🟢 Bullet - Real-time physics simulation for games, visual effects, and robotics. ⭐ 14.8k
  • 🟢 Newton - GPU-accelerated differentiable physics engine built on NVIDIA Warp for robotics simulation. ⭐ 5.8k
  • 🟢 PhysX - NVIDIA physics engine for real-time rigid body and vehicle simulation. ⭐ 4.8k
  • 🟢 Drake - Planning, control, and analysis toolbox for nonlinear dynamical systems. ⭐ 4.2k
  • 🟢 Brax - Massively parallel differentiable rigid body physics engine in JAX for robotics and RL. ⭐ 3.2k
  • 🟢 CHRONO::ENGINE - Multi-physics simulation of rigid and flexible bodies, granular, and fluid systems. ⭐ 3.1k
  • 🟢 Simbody - Multibody dynamics library for biomechanical and mechanical systems. ⭐ 2.6k
  • 🟡 ReactPhysics3d - Open-source 3D physics engine for rigid body simulation and collision detection. ⭐ 1.8k
  • 🟢 DART - Dynamic Animation and Robotics Toolkit for multibody simulation and planning. ⭐ 1.2k
  • 🟢 Newton Dynamics - Real-time physics engine for rigid body simulation. ⭐ 1k
  • 🟢 siconos - Nonsmooth dynamical systems modeling and simulation platform. ⭐ 186
  • 🟢 MBSim - Multi-body simulation environment for flexible and rigid systems. ⭐ 53
  • IBDS - Impulse-based dynamics simulation for rigid bodies and particle systems.
  • MBDyn - General-purpose multibody dynamics analysis software. [code]
  • ODE - Open Dynamics Engine for simulating rigid body dynamics. [bitbucket]

Soft, Fluid & Multiphysics

  • 🟢 PositionBasedDynamics - Position-based methods for simulating deformable objects and fluids. ⭐ 2.3k
  • 🟢 Kratos - Framework for building parallel multi-disciplinary simulation software. ⭐ 1.4k
  • 🟢 SOFA - Simulation Open Framework Architecture for medical and physics simulation. ⭐ 1.3k
  • 🟢 Ptera Software - Open-source package for analyzing flapping-wing flight. ⭐ 270
  • ARCSim - Adaptive remeshing cloth and shell simulator for thin deformable objects.

Inactive (8): archived or no commits for 3+ years</summary>

  • Fluid Engine Dev - Jet - Fluid simulation engine for computer graphics applications. ⭐ 2.1k · last commit 2022
  • nphysics - 2D and 3D rigid body physics engine written in Rust. ⭐ 1.6k · last commit 2021
  • Tiny Differentiable Simulator - Header-only differentiable physics engine for robotics. ⭐ 1.4k · last commit 2023
  • 💀 qu3e - Lightweight 3D physics engine for rigid body dynamics. ⭐ 993 · last commit 2021
  • 💀 Flex - GPU-based particle simulation for rigid bodies, fluids, and deformables. ⭐ 815 · last commit 2021
  • 💀 RaiSim - Cross-platform physics engine for robotics and reinforcement learning. ⭐ 328 · last commit 2020
  • Moby - Multi-body dynamics simulation for rigid bodies with contact. ⭐ 37 · last commit 2021
  • MBSlib - Lightweight multibody system dynamics library. ⭐ 11 · last commit 2016

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Simulators

Simulation applications with worlds, sensors, rendering, and robot middleware bridges.

  • 🟢 AirSim - Simulator based on Unreal Engine for autonomous vehicles. ⭐ 18.5k
  • 🟢 PyBullet - An easy to use simulator for robotics and deep reinforcement learning. ⭐ 14.8k
  • 🟢 CARLA - Open-source simulator for autonomous driving research. ⭐ 14.5k
  • 🟢 Webots - Development environment to model, program, and simulate robots and mechanical systems. ⭐ 4.7k
  • 🟢 Isaac Sim - NVIDIA’s GPU-accelerated robotics simulation platform with PhysX 5 and RTX rendering. ⭐ 4.2k
  • 🟢 Habitat-Sim - Simulation platform for research in embodied artificial intelligence. ⭐ 3.8k
  • 🟢 Unity - Game engine with open-source robotics simulation tools and tutorials. ⭐ 2.6k
  • 🟡 AI2-THOR - Interactive household environment for embodied AI with Unity backend. ⭐ 1.8k
  • 🟢 Gazebo Sim - Open source robotics simulator (formerly Ignition Gazebo). ⭐ 1.5k
  • 🟢 Rigs of Rods - Soft-body vehicle simulator using beam physics. ⭐ 1.3k
  • 🟢 SAPIEN - Physics-rich simulation environment for articulated objects and manipulation. ⭐ 853
  • 🟢 Hexapod Robot Simulator - Open-source hexapod robot inverse kinematics and gaits visualizer. ⭐ 796
  • 🟢 mvsim - Lightweight multi-vehicle 2D simulator with ROS integration. ⭐ 417
  • 🟢 ARGoS - Physics-based simulator designed to simulate large-scale robot swarms. ⭐ 321
  • 🟢 CoppeliaSim - Formaly V-REP. Virtual robot experimentation platform. ⭐ 152
  • 🟡 MARS - Machina Arte Robotum Simulans — a cross-platform simulation environment. ⭐ 69
  • 🟡 PyBullet_Industrial - PyBullet extension for simulating robotic manufacturing processes like milling and 3D printing. ⭐ 56
  • 🟡 AVIS Engine - Fast simulation software for autonomous vehicle development. ⭐ 22
  • Neurorobotics Platform - Internet-accessible simulation of robots controlled by spiking neural networks. [bitbucket]
  • Simbad - Java 3D robot simulator with custom controller and sensor support.

Commercial

  • Actin Simulation - Real-time robot simulation and control software.
  • Artiminds - Planning, programming, operation, analysis and optimization.
  • Kineo - Path planning and trajectory optimization for industrial robotics.
  • Robot Virtual Worlds - Virtual reality software for educational robotics.
  • RobotDK - Simulation and OLP for robots.
  • RobotStudio - ABB’s simulation and offline programming software for robotics.
  • Virtual Robotics Toolkit - 3D virtual environment for programming and testing robots.
  • Visual Components - 3D manufacturing simulation and visualization platform.

Inactive (2): archived or no commits for 3+ years</summary>

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Motion Planning & Navigation

Path planning, trajectory generation and time-parameterization, task and behavior planning, and navigation stacks.

  • 🟢 ROS Motion Planning - ROS planner and controller plugins for mobile robot navigation. ⭐ 3.6k
  • 🟢 OMPL - Open motion planning library. ⭐ 2.2k
  • 🟢 MoveIt! - Motion planning framework. ⭐ 2.1k
  • 🟢 cuRobo - A CUDA accelerated library containing a suite of robotics algorithms that run significantly faster. ⭐ 1.9k
  • 🟢 Ruckig - Real-time, time-optimal and jerk-constrained online trajectory generation. ⭐ 1.4k
  • 🟢 Python Motion Planning - Python implementations of path planners, trajectory trackers, and curve generators. ⭐ 1.1k
  • 🟢 TOPP-RA - Time-parameterizing robot trajectories subject to kinematic and dynamic constraints. ⭐ 934
  • 🟢 Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles. ⭐ 909
  • 🟢 OpenRAVE - Open Robotics Automation Virtual Environment for planning and simulation. ⭐ 821
  • 🟢 Klampt - Robot planning, control, and simulation with visualization support. ⭐ 437
  • 🟢 The Kautham Project - A robot simulation toolkit for motion planning. ⭐ 24
  • CuiKSuite - Applications to solve position analysis and path planning problems.
  • HPP - Path planning for kinematic chains in environments cluttered with obstacles.

Inactive (7): archived or no commits for 3+ years</summary>

  • trajopt - Framework for generating robot trajectories by local optimization. ⭐ 466 · last commit 2017
  • ROS Behavior Tree - Behavior tree implementation for ROS-based robot task planning. ⭐ 365 · last commit 2018
  • GPMP2 - Gaussian Process Motion Planner 2. ⭐ 358 · last commit 2022
  • LibrePilot - Open-source autopilot for UAVs and other autonomous vehicles. ⭐ 358 · last commit 2019
  • AIKIDO - Solving robotic motion planning and decision making problems. ⭐ 235 · last commit 2023
  • 💀 pymanoid - Humanoid robotics prototyping environment based on OpenRAVE. ⭐ 234 · last commit 2024
  • TopiCo - Time-optimal Trajectory Generation and Control. ⭐ 146 · last commit 2021

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Control

Model-based control: MPC, trajectory optimization, whole-body and task-space control.

  • 🟢 OCS2 - Efficient continuous and discrete time optimal control implementation. ⭐ 1.5k
  • 🟢 Crocoddyl - Optimal control library for robot control under contact sequence. ⭐ 1.3k
  • 🟡 TrajectoryOptimization - A fast trajectory optimization library written in Julia. ⭐ 400
  • 🟢 Bioptim - Python framework for musculoskeletal optimal control in biomechanics. ⭐ 120
  • 🟡 Ungar - Expressive and efficient implementation of optimal control problems using template metaprogramming. ⭐ 108

Inactive (3): archived or no commits for 3+ years</summary>

  • Control Toolbox - Open-Source C++ Library for Robotics, Optimal and Model Predictive Control. ⭐ 1.7k · last commit 2021
  • towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. ⭐ 1.1k · last commit 2021
  • FROST - Fast Robot Optimization and Simulation Toolkit for hybrid dynamical systems in MATLAB. ⭐ 170 · last commit 2021

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Optimization

General-purpose numerical solvers (LP, QP, NLP, least squares, black-box) and modeling layers.

  • 🟢 Ceres Solver - Large scale nonlinear optimization library. ⭐ 4.6k
  • 🟢 pymoo - Multi-objective Optimization in Python. ⭐ 3k
  • 🟢 CasADi - Symbolic framework for algorithmic differentiation and numeric optimization. ⭐ 2.3k
  • 🟢 NLopt - Nonlinear optimization. ⭐ 2.3k
  • 🟢 OSQP - The Operator Splitting QP Solver. ⭐ 2.2k
  • 🟢 Ipopt - Large scale nonlinear optimization library. ⭐ 1.8k
  • 🟢 Pagmo - Scientific library for massively parallel optimization. ⭐ 937
  • 🟡 OptimLib - Lightweight C++ library of numerical optimization methods for nonlinear functions. ⭐ 898
  • 🟢 ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt). ⭐ 866
  • 🟢 qpsolvers - Quadratic Programming solvers in Python with a unified API. ⭐ 760
  • 🟢 hpipm - High-performance interior-point-method QP solvers (Ipopt, Snopt). ⭐ 710
  • 🟢 Optimization Engine (OpEn) - Embedded nonconvex optimization with code generation for real-time control, with ROS support. ⭐ 651
  • 🟢 SCS - Numerical optimization for solving large-scale convex cone problems. ⭐ 638
  • 🟢 ProxSuite - The Advanced Proximal Optimization Toolbox. ⭐ 596
  • 🟢 libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm. ⭐ 372
  • 🟡 limbo - Gaussian processes and Bayesian optimization of black-box functions. ⭐ 270
  • 🟡 EXOTica - Generic optimisation toolset for robotics platforms. ⭐ 164
  • 🟢 SHOT - A solver for mixed-integer nonlinear optimization problems. ⭐ 135
  • 🟡 RobOptim - Numerical Optimization for Robotics. ⭐ 66
  • 🟢 lpsolvers - Linear Programming solvers in Python with a unified API. ⭐ 26
  • 🟢 eigen-qld - Interface to use the QLD QP solver with the Eigen3 library. ⭐ 17

Inactive (1): archived or no commits for 3+ years</summary>

  • sferes2 - Evolutionary computation. ⭐ 170 · last commit 2021

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Math & Geometry

Linear algebra, Lie groups, spatial transforms, and spatial data structures such as nearest-neighbor search.

  • 🟢 nanoflann - Nearest Neighbor search with KD-trees. ⭐ 2.7k
  • 🟡 Sophus - Lie groups using Eigen. ⭐ 2.5k
  • 🟢 manif - Small c++11 header-only library for Lie theory. ⭐ 1.8k
  • 🟢 HYPRE - Parallel solvers for sparse linear systems featuring multigrid methods. ⭐ 867
  • 🟡 Fastor - Light-weight high performance tensor algebra framework in C++11/14/17. ⭐ 844
  • 🟢 spatialmath-python - Python classes for pose and orientation in 2D/3D with spatial operations toolbox. ⭐ 646
  • 🟡 kindr - Kinematics and dynamics library for rigid body transformations. ⭐ 618
  • 🟢 SpaceVelAlg - Spatial vector algebra with the Eigen3. ⭐ 81

Inactive (4): archived or no commits for 3+ years</summary>

  • FLANN - Fast Library for Approximate Nearest Neighbors. ⭐ 2.4k · last commit 2022
  • linalg.h - Single header public domain linear algebra library for C++11. ⭐ 969 · last commit 2023
  • Octree - Fast radius neighbor search with an Octree. ⭐ 378 · last commit 2019
  • Cover-Tree - Cover tree data structure for quick k-nearest-neighbor search. ⭐ 64 · last commit 2017

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SLAM & State Estimation

SLAM, odometry, factor graphs, filtering and sensor fusion, calibration, and mapping.

  • 🟡 Cartographer - Real-time SLAM in 2D and 3D across multiple platforms and sensor configurations. ⭐ 8k
  • 🟢 RTAB-Map - RGB-D Graph SLAM approach based on a global Bayesian loop closure detector. ⭐ 4k
  • 🟢 GTSAM - Smoothing and mapping (SAM) in robotics and vision. ⭐ 3.7k
  • 🟢 mrpt - Mobile Robot Programming Toolkit for SLAM, navigation, and computer vision. ⭐ 2.2k
  • 🟡 ElasticFusion - Real-time dense visual SLAM system. ⭐ 1.9k
  • 🟢 fuse - General architecture for performing sensor fusion live on a robot. ⭐ 882
  • 🟢 FusionCore - ROS 2 UKF fusing GPS, IMU, and wheel odometry with adaptive noise and GPS outlier rejection. ⭐ 378
  • 🟢 fiducials - Simultaneous localization and mapping using fiducial markers. ⭐ 284

Mapping

  • 🟢 OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees. ⭐ 2.4k
  • 🟢 libpointmatcher - Iterative Closest Point library for 2-D/3-D mapping in Robotics. ⭐ 1.8k
  • 🟢 Bonxai - Brutally fast, sparse, 3D Voxel Grid (formerly Treexy). ⭐ 884
  • 🟡 wavemap - Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping. ⭐ 573

Inactive (7): archived or no commits for 3+ years</summary>

  • ORB-SLAM2 - Real-time SLAM library for Monocular, Stereo and RGB-D cameras. ⭐ 10.2k · last commit 2017
  • LSD-SLAM - Real-time monocular SLAM. ⭐ 2.7k · last commit 2014
  • DSO - Novel direct and sparse formulation for Visual Odometry. ⭐ 2.5k · last commit 2021
  • voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields. ⭐ 1.7k · last commit 2021
  • Kintinuous - Real-time large scale dense visual SLAM system. ⭐ 953 · last commit 2022
  • AprilSAM - Real-time smoothing and mapping. ⭐ 238 · last commit 2021
  • SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies. ⭐ 75 · last commit 2016

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Perception

Image and point-cloud processing, detection, pose estimation and tracking, and visual servoing.

Inactive (1): archived or no commits for 3+ years</summary>

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Grasping & Manipulation

Grasp synthesis, detection, and planning, and dexterous manipulation.

Inactive (1): archived or no commits for 3+ years</summary>

  • GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs. ⭐ 221 · last commit 2020

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Robot Learning

Robot foundation models (VLA), imitation and reinforcement learning libraries, learning environments, and benchmarks.

  • 🟢 LeRobot - Pretrained models, datasets, and simulation environments for real-world robotics in PyTorch. ⭐ 28.1k
  • 🟢 Stable-Baselines3 - Reliable implementations of reinforcement learning algorithms in PyTorch. ⭐ 13.9k
  • 🟢 Gymnasium - Developing and comparing reinforcement learning algorithms. ⭐ 12.7k
  • 🟢 CleanRL - Single-file implementations of deep reinforcement learning algorithms. ⭐ 10.5k
  • 🟢 Isaac Lab - GPU-accelerated open-source framework for robot learning built on NVIDIA Isaac Sim. ⭐ 8.3k
  • 🟢 ManiSkill - Robot simulation and manipulation learning package powered by SAPIEN. ⭐ 3.4k
  • 🟡 Legged Gym - Isaac Gym environments for legged robot locomotion training. ⭐ 3.1k
  • 🟢 robosuite - A modular simulation framework and benchmark for robot learning. ⭐ 2.7k
  • 🟡 Humanoid-Gym - Reinforcement learning environment for humanoid robot locomotion. ⭐ 2.1k
  • 🟢 rl_games - High-performance RL library used in Isaac Gym environments. ⭐ 1.4k
  • 🟢 SKRL - Modular reinforcement learning library with support for multiple ML frameworks. ⭐ 1.1k
  • 🟡 AllenAct - Python/PyTorch-based Research Framework for Embodied AI. ⭐ 384

General Machine Learning

  • 🟢 mlpack - Scalable C++ machine learning library. ⭐ 5.7k
  • 🟡 DyNet - The Dynamic Neural Network Toolkit. ⭐ 3.4k
  • 🟡 DLL - Deep Learning Library (DLL) for C++. ⭐ 688

Inactive (7): archived or no commits for 3+ years</summary>

  • 💀 Ivy - Unified Machine Learning Framework. ⭐ 14.2k · last commit 2026
  • tiny-dnn - Header only, dependency-free deep learning framework in C++14. ⭐ 6k · last commit 2018
  • 💀 gym-gazebo - OpenAI Gym environments for the Gazebo simulator. ⭐ 845 · last commit 2019
  • Fido - Lightweight C++ machine learning library for embedded electronics and robotics. ⭐ 464 · last commit 2017
  • MiniDNN - A header-only C++ library for deep neural networks. ⭐ 434 · last commit 2021
  • RLLib - Temporal-difference learning algorithms in reinforcement learning. ⭐ 211 · last commit 2016
  • gym-dart - OpenAI Gym environments using the DART physics engine. ⭐ 140 · last commit 2020

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Robot Data & Visualization

Logging, storing, converting, and visualizing robot data, dataset tools, and teleoperation for data collection.

  • 🟢 Any4LeRobot - A collection of utilities and tools for LeRobot. ⭐ 1.2k
  • 🟢 ReductStore - High-performance, time-indexed object storage for robotics and industrial IoT. ⭐ 373
  • 🟢 LeRobot Episode Scoring Toolkit - One-click tool to score, filter, and export higher-quality LeRobot datasets. ⭐ 77
  • Foxglove Studio - A fully integrated visualization and debugging desktop app for your robotics data.

Inactive (1): archived or no commits for 3+ years</summary>

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Other Awesome Lists

Related curated lists and collections.

Inactive (6): archived or no commits for 3+ years</summary>

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Contributing

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

Star History

Star History Chart

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License

CC0