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机器人开发库软件大列表

专知出品

’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.

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
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]