Open software that robots run on, with the license read from each project's license file, whether it is still maintained, and the robots on Robotheca that use it. A reference, not a download site: every entry links to its source.
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An inverse kinematics solver plugin for MoveIt 2, reimplementing the bio_ik approach. PickNik has deprecated it and seeks a community maintainer.
ROS 2 package to control Kinova Gen3 and Gen3 lite robot arms through the Kortex API, with URDF models, drivers, and MoveIt configurations.
Pink is a Python library for differential inverse kinematics of articulated robot models, built on Pinocchio. It solves weighted tasks as a quadratic program.
A CUDA-accelerated library for robot motion generation, covering kinematics, collision checking, trajectory optimization and GPU perception. It targets arms up to high-DoF humanoids.
A framework for defining and planning multi-step robot actions by composing subtasks from MoveIt planning stages. It is built on MoveIt and passes solutions between stages through the PlanningScene.
A ROS 2 driver, controller and description package set for Robotiq grippers, initially built for the 2F-85 with support for the e-pick planned.
C++ library for low-level control of Franka Robotics research robots, with Python bindings (pylibfranka) for the same robots. It exposes motion control and real-time communication with the robot.
IKPy is a pure-Python library that computes inverse kinematics for robot arms, with kinematic chains built from URDF, MJCF, DH parameters or custom definitions.
A Python library that computes time-optimal path parameterizations for robots under kinematic and dynamic constraints. It turns a geometric path into the fastest feasible trajectory.
A C++ helper library for visualizing MoveIt data in Rviz, such as markers, trajectories, collision objects and robot states. It is built on top of rviz_visual_tools.
A ROS 2 package that connects Feetech servos to the ros2_control framework so they can be driven through standard controllers.
MoveIt is an open-source motion planning framework for ROS 1 used to build, prototype, and benchmark robot manipulation applications.
CANopenNode is an open-source ANSI C implementation of the CANopen protocol stack for embedded control systems built on CAN, usable with or without an RTOS.
TRAC-IK is a ROS-based inverse kinematics solver for robot arms that handles joint limits better than KDL's default Jacobian-based solver.
PyRoki is a Python toolkit for robot kinematic optimization, built on JAX, covering forward kinematics from URDF files and collision-aware cost design.
A ROS 2 package providing a ros2_control hardware interface for driving Dynamixel servo motors, plus the dynamixel_interfaces package with its custom messages.
An Arduino library for Adafruit's 16-channel PWM and servo driver boards, which control servos and LEDs over I2C.
ODrive is open-source motor-driver firmware and a Python tool library for accurately driving inexpensive brushless motors in robotics projects. The v3.x line is no longer actively developed.
OSQP is a numerical solver for quadratic programs: minimizing a quadratic objective subject to linear constraints. It is built for solving such optimization problems.
Grbl is open-source firmware that turns an Arduino with an ATmega328P chip into a CNC motion controller for milling machines, running g-code.
Projects 25–44 of 44