机器人开发库软件大列表

’Awesome Robotics Libraries - A curated list of robotics libraries and software' by Jeongseok Lee 

来源：http://jslee02.github.io/awesome-robotics-libraries/

Awesome Robotics Libraries

A curated list of robotics simulators and libraries.

Table of Contents

• Simulators

• Libraries

• Dynamics Simulation

• Machine Learning

• Motion Planning and Control

• Optimization

• Robot Modeling

• Robot Platform

• SLAM

• Vision

• Other Awesome Lists

• Contributing

Simulators

Free or Open Source

• AirSim - Simulator based on Unreal Engine for autonomous vehicles [github 

• ARTE - Matlab toolbox focussed on robotic manipulators [github

• Gazebo - Dynamic multi-robot simulator [bitbucket]

• GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs [github 

• Isaac - Nvidia’s virtual simulator for robots

• MORSE - Modular open robots simulation engine [github

• V-REP - Virtual robot experimentation platform

Commercial

• Actin Simulation

• RobotDK - Simulation and OLP for robots

• RobotStudio

• Robot Virtual Worlds

• Virtual Robotics Toolkit

• Visual Components

• Webots - Robot simulator that provides a complete development environment

Libraries

Dynamics Simulation

:warning: The following table is not complete. Please feel free to report if you find something incorrect or missing.

Name	Models	Features	Languages	Licenses	Code	Popularity
ARCSim	soft		C++
Bullet	rigid, soft	ik, id	C++, Python	Zlib	github
CHRONO::ENGINE	rigid, soft, granular, fluid	ik, urdf	C++, Python	BSD-3-Clause	github
DART	rigid, soft	ik, id, plan, urdf, sdf	C++, Python	BSD-2-Clause	github
Drake	rigid, aero, fluid	ik, trj-opt, plan	C++, Matlab	BSD-3-Clause	github
Flex	rigid, soft, particle, fluid		C++		github
FROST	rigid		MATLAB	BSD-3-Clause	github
IBDS	rigid, particle		C++	Zlib
idyntree	rigid	id	C++, Python, Matlab, Lua	LGPL-2.1	github
KDL	rigid	ik	C++	LGPL-2.1	github
kindr	rigid	(todo)	C++, Matlab	BSD-3-Clause	github
Klampt	(todo)	(todo)	C++, Python	BSD-3-Clause	github
LibrePilot	uav, vehicles	(todo)	C++	GPL-3.0	bitbucket, github
MARS	(todo)	(todo)	C++, Python	LGPL-3.0	github
MBDyn	(todo)	(todo)	C++	GPL-2.1	download
MBSim	(todo)	(todo)	C++	(not specified)	github
MBSlib	(todo)	(todo)	C++	LGPL-3.0	github
metapod	(todo)	(todo)	C++	LGPL-3.0	github
Moby	rigid	id	C++	GPL-2.0	github
mrpt	vehicle	slam, cv	C++, Python, Matlab	BSD-3-Clause	github
MuJoCo	(todo)	id	C++, Python	licenses	closed source
Newton Dynamics	(todo)	(todo)	C++	Zlib	github
nphysics	(todo)	(todo)	Rust	BSD-3-Clause	github
ODE	rigid		C++	LGPL-2.1 or BSD-3-Clause	bitbucket
OpenRAVE	(todo)	(todo)	C++, Python	LGPL-3.0	github
pinocchio	rigid	ik, id	C++, Python	LGPL-3.0	github
PositionBasedDynamics	(todo)	(todo)	C++	MIT	github
PyDy	(todo)	(todo)	Python	BSD-3-Clause	github
RBDL	rigid	ik	C++, Python	LGPL-3.0	bitbucket
RBDyn	rigid	(todo)	C++, Python	LGPL-3.0	github
ReactPhysics3d	(todo)	(todo)	C++	Zlib	github
Robopy	(todo)	(todo)	Python 3	MIT	github
Robotics Library	(todo)	(todo)	C++	GPL-3.0 or BSD-2-Clause	github
RobWork	(todo)	(todo)	C++	Apache-2.0	SVN (id/pw required)
siconos	(todo)	(todo)	C++, Python	Apache-2.0	github
Simbody	rigid, molecules	id, urdf	C++	Apache-2.0	github
SOFA	rigid, soft, medical	(todo)	C++	LGPL-2.1	github
trep	rigid	dm, trj-opt	C, Python	GPL-3.0	github
qu3e	rigid	-	C++	Zlib	github

For simplicity, shortened names are used to represent the supported models and features as

• Supported Models

• rigid: rigid bodies

• soft: soft bodies

• aero: aerodynamics

• granular: granular materials (like sand)

• fluid: fluid dynamics

• vehicles

• uav: unmanned aerial vehicles (like drones)

• medical

• molecules

• parallel: parallel mechanism (like Stewart platform)

• Features on Simulation, Analysis, Planning, Control Design

• dm: discrete mechanics

• ik: inverse kinematics solvers

• id: inverse dynamics

• slam: simultaneous localization and mapping

• trj-opt: trajectory optimization

• plan: motion planning algorithms

• cv: computer vision

• urdf: urdf parser

• sdf: sdf parser

Machine Learning

• OpenAI Gym - Developing and comparing reinforcement learning algorithms [github]

• gym-dart [github]

• gym-gazebo [github]

Motion Planning and Control

• Aikido - Solving robotic motion planning and decision making problems. [github]

• CuiKSuite - Applications to solve position analysis and path planning problems

• Control Toolbox - Control, estimation, optimization and motion planning in robotics [bitbucket]

• HPP - Path planning for kinematic chains in environments cluttered with obstacles [github]

• MoveIt! - Motion planning framework [github]

• OMPL - Open motion planning library [bitbucket, github]

Motion Optimizer

• trajopt - Framework for generating robot trajectories by local optimization [github]

Nearest Neighbor

• Cover-Tree - Cover tree data structure for quick k-nearest-neighbor search [github]

• Faster cover trees by Mike Izbicki et al., ICML 2015.

• FLANN - Fast Library for Approximate Nearest Neighbors [github]

• nanoflann - Nearest Neighbor search with KD-trees [github]

3D Mapping

• OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees [github]

• voxblox - Flexible voxel-based mapping focusing on truncated and Euclidean signed distance fields [github]

Optimization

• CasADi - Symbolic framework for algorithmic differentiation and numeric optimization [github]

• Ceres Solver - Large scale nonlinear optimization library [github]

• Ipopt - Large scale nonlinear optimization library [github]

• libcmaes - Blackbox stochastic optimization using the CMA-ES algorithm [github]

• limbo - Gaussian processes and Bayesian optimization of black-box functions [github]

• NLopt - Nonlinear optimization [github]

• RobOptim - Numerical Optimization for Robotics. [github]

• SCS - Numerical optimization for solving large-scale convex cone problems [github]

• sferes2 - Evolutionary computation [github]

Robot Modeling

Robot Model Description Format

• SDF - XML format that describes objects and environments for robot simulators, visualization, and control (bitbucket)

• urdf - XML format for representing a robot model [github]

Utility to Build Robot Models

• phobos - Add-on for Blender creating URDF and SMURF robot models [github]

Robot Platform

• Linorobot - ROS compatible ground robots [github]

• onine - Service Robot based on Linorobot and Braccio Arm [github]

• Rock - Software framework for robotic systems

• ROS - Flexible framework for writing robot software [github repos]

• YARP - Communication and device interfaces applicable from humanoids to embedded devices [github]

SLAM

• 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]

• 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]

• SRBA - Solving SLAM/BA in relative coordinates with flexibility for different submapping strategies [github]

Vision

• ViSP - Visual Servoing Platform [github]

Other Awesome Lists

• Awesome Robotics (Kiloreux)

• Awesome Robotics (ahundt)

• Awesome Artificial Intelligence

• Awesome Collision Detection

• Awesome Computer Vision

• Awesome Machine Learning

• Awesome Deep Learning

• Awesome Gazebo

• PythonRobotics

Contributing

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

License

 

-END-

专 · 知

人工智能领域主题知识资料查看获取：【专知荟萃】人工智能领域26个主题知识资料全集（入门/进阶/论文/综述/视频/专家等）

同时欢迎各位用户进行专知投稿，详情请点击：

【诚邀】专知诚挚邀请各位专业者加入AI创作者计划！了解使用专知！

请PC登录www.zhuanzhi.ai或者点击阅读原文，注册登录专知，获取更多AI知识资料！

请扫一扫如下二维码关注我们的公众号，获取人工智能的专业知识！

请加专知小助手微信（Rancho_Fang），加入专知主题人工智能群交流！

点击“阅读原文”，使用专知！