The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

rdiankov /openrave

C++823359

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

PickNikRobotics /rviz_visual_tools

C++821250

C++ API wrapper for displaying shapes and meshes in Rviz

gkjohnson /urdf-loaders

JavaScript820222

URDF Loaders for Unity and THREE.js with example ATHLETE URDF Files open sourced from NASA JPL

mithi /hexapod

JavaScript80097

Blazing fast hexapod robot simulator for the web.

robotics
robot
hexapod
visualizers

atenpas /gpd

C++769248

Detect 6-DOF grasp poses in point clouds

grasping
robotics
ros

MIT-SPARK /Kimera-Semantics

C++757146

Real-Time 3D Semantic Reconstruction from 2D data

semantic-segmentation
volumetric-reconstruction
3d-reconstruction
robotics

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

articulated-body-algorithm
inverse-dynamics
forward-dynamics
multi-body-dynamics

CopterExpress /clover

C++694320

ROS-based framework and RPi image to control PX4-powered drones 🍀

ros
px4
mavros
aruco

moble /quaternion

Python65994

Add built-in support for quaternions to numpy

alphaville /optimization-engine

Rust65173

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

embedded-optimization
nonconvex
model-predictive-control
rust-library

reality-opened /openreality

Python6233

Open Reality: phone video to AI-queryable 3D scenes. MCP tools for Claude/Codex/Cursor (npm openreality-mcp), the self-hostable broker, and the VGGT-SLAM library, in one repo. BSD-2-Clause.

3d
claude
codex
cordis

leggedrobotics /se2_navigation

C++61298

Pure Pursuit Control and SE(2) Planning

planning
car
vehicle
pure-pursuit

robotology /yarp

C++606218

YARP - Yet Another Robot Platform

middleware
yarp
robotics-libraries
robotics

at-wat /mcl_3dl

C++604123

A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.