[robot library] awesome robots Libraries

Awesome Robotics Libraries | awesome-robotics-libraries:sunglasses: A curated list of robotics libraries and softwarehttp://jslee02.github.io/awesome-robotics-libraries/

 

A curated list of robotics simulators and libraries.
A select list of robot simulators and libraries .
Table of Contents Catalog
Simulators Emulator
Libraries library
    Dynamics Simulation                        
    Inverse Kinematics
    Machine Learning
    Motion Planning and Control
    Optimization
    Robot Modeling
    Robot Platform
    SLAM
    Vision
    Fluid
    Multiphysics
    Math
    ETC
    
     Dynamic simulation
     Inverse kinematics
     machine learning
     Motion planning and control
     Optimize
     Robot modeling
     Robot platform
    SLAM
     Vision
     Fluid
     Multiple physical fields
     mathematics
     wait             
Other Awesome Lists   Other great lists
Contributing   contribution  

Simulators Emulator
Free or open source
AirSim - Based on the Unreal Engine Unreal Engine Autonomous Vehicle Simulator [github AirSim]
ARGoS - Physics based simulator , Designed to simulate large robot groups [github ilpincy/argos3]
ARTE -Matlab The tool box focuses on the robot manipulator [github 4rtur1t0/ARTE]
CARLA - Open source simulator for autonomous driving research [github carla-simulator/carla]
CoppeliaSim - Formaly V-REP. Virtual robot experimental platform Virtual robot experimentation platform [github CoppeliaRobotics/CoppeliaSimLib]
Gazebo - Dynamic multi robot simulator [github osrf/gazebo]
GraspIt! - A simulator for mastering research that can accommodate any hand and robot design [github graspit]
Habitat-Sim - Simulation platform for embedded artificial intelligence research [github facebookresearch/habitat-sim]
Hexapod Robot Simulator - Hexapod robot simulator - Open source hexapod robot inverse kinematics and gait visualizer [github mithi/hexapod]
Ignition Gazebo - Open source robot simulator [github ignitionrobotics/ign-gazebo]
Isaac - Nvidia Robot virtual simulator
MORSE - - Modular open robot simulation engine [github morse]
Neurorobotics Platform - Neural network controlled robot Internet Access simulation [bitbucket]
PyBullet - An easy-to-use simulator , For robotics and deep reinforcement learning [github bullet3]
Robot Gui - One is based on three.js Of 3D Robot interface [github glumb/robot-gui]
Simbad - Java 3D Robot simulator , You can use the available sensors to write your own robot controller by modifying the environment .
Unity - Popular game engines , Open source tools for robot simulation are now available , Tutorials and resources [github Unity-Technologies/Unity-Robotics-Hub]
Webots - A robot simulator that provides a complete development environment [github omichel/webots]
Commercial   commercial
Actin Simulation   Actin simulation
Artiminds - planning , Programming , operation , Analysis and optimization Planning, programming, operation, analysis and optimization
Kineo - Path planning and trajectory optimization for industrial robots and digital model review applications Path planning and trajectory optimization for industrial robotics and digital mock-up review applications
RobotDK - Robot simulation and OLP
RobotStudio
Robot Virtual Worlds
Virtual Robotics Toolkit
Visual Components
Cloud cloud
AWS RoboMaker - Simplify large-scale development , Services for testing and deploying intelligent robot applications  

Libraries library
Dynamics Simulation   Dynamic simulation
： Warning ： The following table is incomplete . If incorrect or missing content is found , Please report at any time . 
Name    Models    Features    Languages    Licenses    Code    Popularity
ARCSim    soft         C++               
Bullet    rigid, soft    ik, id, urdf, sdf    C++, Python    Zlib    github    bullet3
CHRONO::ENGINE    rigid, soft, granular, fluid    ik, urdf    C++, Python    BSD-3-Clause    github    chrono
DART    rigid, soft    ik, id, plan, urdf, sdf    C++, Python    BSD-2-Clause    github    dart
Drake    rigid, aero, fluid    ik, trj-opt, plan    C++, Matlab    BSD-3-Clause    github    drake
Flex    rigid, soft, particle, fluid         C++         github    NVIDIAGameWorks/FleX
FROST    rigid         MATLAB    BSD-3-Clause    github    ayonga/frost-dev
IBDS    rigid, particle         C++    Zlib          
idyntree    rigid    id    C++, Python, Matlab, Lua    LGPL-2.1    github    idyntree
KDL    rigid    ik    C++    LGPL-2.1    github    orocos_kinematics_dynamics
kindr    rigid    (todo)    C++, Matlab    BSD-3-Clause    github    kindr
Klampt    (todo)    (todo)    C++, Python    BSD-3-Clause    github    Klampt
LibrePilot    uav, vehicles    (todo)    C++    GPL-3.0    bitbucket, github    LibrePilot
MARS    (todo)    (todo)    C++, Python    LGPL-3.0    github    mars
MBDyn    (todo)    (todo)    C++    GPL-2.1    download     
MBSim    (todo)    (todo)    C++    (not specified)    github    mbsim-env/mbsim
MBSlib    (todo)    (todo)    C++    LGPL-3.0    github    mbslib
metapod    (todo)    (todo)    C++    LGPL-3.0    github    metapod
Moby    rigid    id    C++    GPL-2.0    github    Moby
mrpt    vehicle    slam, cv    C++, Python, Matlab    BSD-3-Clause    github    mrpt
MuJoCo    (todo)    id    C++, Python    licenses    closed source     
mvsim    vehicle    (todo)    C++    GPL-3.0    github    ual-arm-ros-pkg/mvsim
Newton Dynamics    (todo)    (todo)    C++    Zlib    github    newton-dynamics
nphysics    (todo)    (todo)    Rust    BSD-3-Clause    github    sebcrozet/nphysics
ODE    rigid         C++    LGPL-2.1 or BSD-3-Clause    bitbucket     
OpenRAVE    (todo)    (todo)    C++, Python    LGPL-3.0    github    openrave
pinocchio    rigid    ik, id, urdf, analytical derivatives, code generation    C++, Python    BSD-2-Clause    github    pinocchio
PositionBasedDynamics    (todo)    (todo)    C++    MIT    github    PositionBasedDynamics
PhysX    (todo)    (todo)    C++    unknown    github    NVIDIAGameWorks/PhysX
PyDy    (todo)    (todo)    Python    BSD-3-Clause    github    pydy
RBDL    rigid    ik,id,urdf    C++, Python    Zlib    github    rbdl
RBDyn    rigid    (todo)    C++, Python    LGPL-3.0    github    RBDyn
RaiSim    (todo)    (todo)    C++    custom    github    leggedrobotics/raisimLib
ReactPhysics3d    (todo)    (todo)    C++    Zlib    github    reactphysics3d
RigidBodyDynamics.jl    rigid    (todo)    Julia    MIT “Expat”    github    RigidBodyDynamics.jl
Rigs of Rods    rigid, soft, vehicle    (todo)    C++    GPL-3.0    github    RigsOfRods/rigs-of-rods
Robopy    (todo)    (todo)    Python 3    MIT    github    adityadua24/robopy
Robotics Library    (todo)    (todo)    C++    GPL-3.0 or BSD-2-Clause    github    rl
RobWork    (todo)    (todo)    C++    Apache-2.0    gitlab     
siconos    (todo)    (todo)    C++, Python    Apache-2.0    github    siconos
Simbody    rigid, molecules    id, urdf    C++    Apache-2.0    github    simbody
SOFA    rigid, soft, medical    (todo)    C++    LGPL-2.1    github    sofa
Tiny Differentiable Simulator    rigid    (todo)    C++, Python    Apache-2.0    github    google-research/tiny-differentiable-simulator
trep    rigid    dm, trj-opt    C, Python    GPL-3.0    github    trep
qu3e    rigid    -    C++    Zlib    github    qu3e

For the sake of simplicity , Abbreviated names are used to indicate supported models and functions , As shown below ：

Supported models
rigid: rigid body
soft: software
aero: aerodynamics
granular: Granular material （ Like sand ）
fluid: fluid dynamics Hydrodynamics
vehicles vehicle
uav: Unmanned aerial vehicle (uav) （ Unmanned aerial vehicle ）
medical Medical
molecules molecular
parallel: parallel connection （ Such as Stewart platform ）

Simulation , analysis , plan , Control the function of the design Features on Simulation, Analysis, Planning, Control Design
dm: Discrete mechanics
ik: Inverse Kinematics solver （ Please find in this list IK Special software package ）
id: Inverse dynamics
slam: Locate and map at the same time
trj-opt: Trajectory optimization
plan: Motion planning algorithm
cv: Computer vision
urdf: urdf Parser
sdf: sdf Parser
 
Inverse Kinematics   Inverse kinematics
IKBT- Used to solve the inverse kinematics of robot arm in symbolic form python Package [github uw-biorobotics / IKBT]
RelaxedIK- Accurate and feasible real-time synthesis of robot arm motion [github uwgraphics / relaxed_ik] 

Machine Learning machine learning
DLL-C ++ Deep learning library （DLL）[github wichtounet / dll]
DyNet- Dynamic neural network toolkit [github clab / dynet]
Fido- Lightweight for embedded electronics and robotics C ++ Machine learning library [github FidoProject / Fido]
MiniDNN- Header only for deep neural networks C ++ library [github yixuan / MiniDNN]
mlpack- Extensible C ++ Machine learning library [github mlpack / mlpack]
OpenAI Gym- Develop and compare reinforcement learning algorithms [github Gymnasium ]
Gym-dart [github dart-env]
gym-gazebo[github dart-env]
RLLib- TDOA learning algorithm in reinforcement learning [github samindaa / RLLib]
tiny-dnn-C ++ 14 Only headers in , A dependency free deep learning framework [github tiny-dnn / tiny-dnn] 

Motion Planning and Control Motion planning and control
AIKIDO- Solve the problem of robot motion planning and decision . [github aikido]
CuiKSuite- Applications that solve location analysis and path planning problems
Control Toolbox- For Robotics , Open source of optimal and model predictive control C ++ library [github ethz-adrl / control-toolbox]
GPMP2- Gaussian process motion planner 2 [github gtrll / gpmp2]
HPP- Motion chain path planning in a chaotic environment [github]
MoveIt！ - Motion planning framework [github moveit]
OMPL- Open motion planning Library [bitbucket,github ompl]
pymanoid- be based on OpenRAVE Humanoid robot prototype development environment [github stephane-caron / pymanoid]
ROS Behavior Tree-[github miccol / ROS-Behavior-Tree]
Ruckig-Real-time, Online trajectory generation with optimal time and limited acceleration . [github ruckig]
Kautham project - Robot simulation toolkit for Motion Planning [github kautham]
TOPP-RA- Time parameterized robot trajectory subject to kinematic and dynamic constraints [github_hungpham2511 / toppra] 

Motion Optimizer   Motion optimizer
TopiCo- Generation and control of time optimal trajectory [github AIS-Bonn / TopiCo]
towr- A feature-based lightweight C ++ library , For trajectory optimization of leg robot [github ethz-adrl / towr]
trajopt- Generate the framework of robot trajectory through local optimization [github joschu / trajopt] 

Nearest neighbor
Cover-Tree- For fast k Nearest neighbor search Cover tree data structure [github Cover-Tree]
Mike Izbicki wait forsomeone ,ICML 2015, Reported faster coverage of trees .
FLANN- A fast library similar to the nearest neighbor [github flann]
nanoflann- have KD Tree nearest neighbor search [github nanoflann] 

3D mapping
libpointmatcher- Used in robotics for 2-D / 3-D Mapped iterative closest point Library [github ethz-asl / libpointmatcher]
Octree- Use Octree Fast radius neighbor search [github jbehley / octree]
OctoMap- be based on Octrees Efficient probability 3D Mapping framework [github octomap]
PCL-2D / 3D Image and point cloud processing [github PointCloudLibrary / pcl]
voxblox- Based on flexible voxel based mapping , Focus on truncated and Euclidean symbolic distance fields [github voxblox]
Practical software
    Goxel- Free and open source 3D Voxel editor [github guillaumechereau / goxel] 

Optimize
CasADi- Symbolic framework for algorithm differentiation and numerical optimization [github casadi]
Ceres Solver- Large nonlinear optimization Library [github ceres-solver]
eigen-qld- take QLD QP Solver and Eigen3 Interfaces used with libraries [github jrl-umi3218 / eigen-qld]
EXOTica- General optimization tool set for robot platform [github ipab-slmc / exotica]
hpipm- High performance interior point method QP solver （Ipopt,Snopt）[github giaf / hpipm]
HYPRE- Parallel solver for sparse linear systems , With multi grid method [github hypre-space / hypre]
ifopt- Nonlinear programming solver （Ipopt,Snopt） Feature based lightweight C ++ Interface [github ifopt]
Ipopt- Large scale nonlinear optimization Library [github Ipopt]
libcmaes- Use CMA-ES Black box random optimization of Algorithm [github beniz / libcmaes]
limbo- Gaussian process of black box function and Bayesian Optimization [github resibots / limbo]
lpsolvers- Have a unified API Of Python Linear programming solver in [github lpsolvers]
NLopt- Nonlinear optimization [github nlopt]
OptimLib- Light weight of numerical optimization method of nonlinear function C ++ library [github kthohr / optim]
Pagmo- Scientific library for large-scale parallel optimization [github esa / pagmo2]
pymoo-Python Multi objective optimization in [github msu-coinlab / pymoo]
qpsolvers- Have a unified API Of Python Quadratic programming solver [github qpsolvers]
RobOptim- Numerical optimization of robot . [github roboptim / roboptim-core]
SCS- Numerical optimization for solving large convex cone problems [github scs]
sferes2- Evolutionary computing [github sferes2 / sferes2] 

Robot modeling
Robot model description format
SDF- Describe the robot simulator , Visualization and control of objects and environments XML Format （bitbucket）
urdf- Representing the robot model XML Format [github ros / urdfdom]
Utility program for building robot model
phobos-Blender Attachments to , Used to create URDF and SMURF Robot models [github phobos] 

Robot platform
AutoRally- High performance test platform for advanced perception and control research [github autorally / autorally]
Linorobot-ROS Compatible ground robots [github linorobot / linorobot]
onine- be based on Linorobot and Braccio Arm Service robots [github grassjelly / onine]
Rock- Software framework of robot system
ROS- Write a flexible framework for robot software [github repos]
ROS 2- Robot operating system （ROS） Of the software stack 2.0 edition [github repos]
YARP- It is suitable for communication and device interface from humanoid animals to embedded devices [github robotology / yarp] 

SLAM
Cartographer- Configured across multiple platforms and sensors 2D and 3D real time SLAM [github cartographer]
DSO- Novel direct and sparse formulas for visual odometer [github dso]
ElasticFusion- Real time dense vision SLAM System [github ElasticFusion]
fiducials- Use datum marks to locate and map at the same time [github UbiquityRobotics / fiducials]
GTSAM- Smoothing and mapping in robotics and vision （SAM）[bitbucket]
Kintinuous- Real time massive dense vision SLAM System [github Kintinuous]
LSD-SLAM- Real time monocular SLAM [github lsdslam]
ORB-SLAM2- For monocular , Stereo and RGB-D Real time camera SLAM library [github ORB_SLAM2]
RTAP-Map- Based on global Bayesian closed-loop detector RGB-D Graph SLAM Method [github introlab / rtabmap]
SRBA- Flexible solution under relative sub coordinates SLAM / BA The problem of , Applicable to different sub mapping strategies [github srba] 

SLAM Data sets
Great SLAM Data sets  https://github.com/youngguncho/awesome-slam-datasets

Vision
ViSP- Visual servo platform [github lagadic / visp] 

Fluid
Fluid Engine Dev-Jet- Fluid simulation engine for computer graphics applications [github doyubkim / fluid-engine-dev] 

Multiple physical fields
Kratos- Framework for building parallel multidisciplinary simulation software [github KratosMultiphysics / Kratos] 

mathematics
Fastor-C ++ 11/14/17 Lightweight high-performance tensor algebra framework in [github romeric / Fastor]
linalg.h- be used for C ++ 11 Single header file common field linear algebra Library [github sgorsten / linalg]
manif- be used for Lie Theoretical miniaturization c ++ 11 Only the libraries of header files . [github artivis / manif]
Sophus- Use Eigen Li Qunku [github strasdat / Sophus]
SpaceVelAlg- have Eigen3 Space vector algebra [github jrl-umi3218 / SpaceVecAlg] 

wait
fuse- A general architecture for real-time sensor fusion on robots [github locusrobotics / fuse] 

Other Awesome Lists
Awesome Robotics (Kiloreux)  https://github.com/Kiloreux/awesome-robotics
Awesome Robotics (ahundt)  https://github.com/ahundt/awesome-robotics
Awesome Robotic Tooling https://github.com/Ly0n/awesome-robotic-tooling
Awesome Artificial Intelligence  https://github.com/owainlewis/awesome-artificial-intelligence
Awesome Collision Detection  https://github.com/jslee02/awesome-collision-detection
Awesome Computer Vision  https://github.com/jbhuang0604/awesome-computer-vision
Awesome Machine Learning   https://github.com/josephmisiti/awesome-machine-learning
Awesome Deep Learning  github.com/ChristosChristofidis/awesome-deep-learning  
Awesome Gazebo     github.com/fkromer/awesome-gazebo
Awesome Grasping     https://github.com/Po-Jen/awesome-grasping
Awesome Human Robot Interaction https://github.com/Po-Jen/awesome-human-robot-interaction
PythonRobotics - Python sample codes for robotics algorithms https://github.com/AtsushiSakai/PythonRobotics
Robotics Coursework - A list of robotics courses you can take online  https://github.com/mithi/robotics-coursework