 Common | Classes and functions used by multiple modules |
| Events | Signals and connections to send and receive event-based triggers |
| GUI | The graphical user interface |
| Math | A set of classes that encapsulate math related properties and functions |
| Messages | All messages and helper functions |
 Physics | Physics and dynamics functionality |
 Bullet Physics | Bullet physics engine wrapper |
| Dart Physics | Dart physics engine wrapper |
| ODE Physics | Open Dynamics Engine physics wrapper |
 Simbody Physics | Simbody physics engine wrapper |
| Rendering | A set of rendering related class, functions, and definitions |
| Sensors | A set of sensor classes, functions, and definitions |
| Transport | Handles transportation of messages |
| Utility | Useful utility functions that typically rely on the transport library |