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awesome-robotics-libraries

A curated list of robotics libraries and software
https://github.com/eric-erki/awesome-robotics-libraries

Last synced: 3 days ago
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  • [Simulators](#awesome-robotics-libraries)

    • [github
    • ARGoS - Physics-based simulator designed to simulate large-scale robot swarms [[github](https://github.com/ilpincy/argos3) ![ilpincy/argos3](https://img.shields.io/github/stars/ilpincy/argos3.svg?style=flat&label=Star&maxAge=86400)]
    • GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs [[github](https://github.com/graspit-simulator/graspit) ![graspit](https://img.shields.io/github/stars/graspit-simulator/graspit.svg?style=flat&label=Star&maxAge=86400)]
    • Isaac - Nvidia's virtual simulator for robots
    • MORSE - Modular open robots simulation engine [[github](https://github.com/morse-simulator/morse) ![morse](https://img.shields.io/github/stars/morse-simulator/morse.svg?style=flat&label=Star&maxAge=86400)]
    • Neurorobotics Platform - Internet-accessible simulation of robots controlled by spiking neural networks [[bitbucket](https://bitbucket.org/hbpneurorobotics/neurorobotics-platform)]
    • PyBullet - An easy to use simulator for robotics and deep reinforcement learning [[github](https://github.com/bulletphysics/bullet3) ![bullet3](https://img.shields.io/github/stars/bulletphysics/bullet3.svg?style=flat&label=Star&maxAge=86400)]
    • Webots - Robot simulator that provides a complete development environment [[github](https://github.com/omichel/webots) ![omichel/webots](https://img.shields.io/github/stars/omichel/webots.svg?style=flat&label=Star&maxAge=86400)]
    • RobotDK - Simulation and OLP for robots
    • RobotStudio
    • Virtual Robotics Toolkit
    • Visual Components
    • AWS RoboMaker - Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale

  • [Libraries](#awesome-robotics-libraries)

    • [Dynamics Simulation](#awesome-robotics-libraries)

      • ARCSim
      • github
      • Bullet
      • DART - 2-Clause | [github](https://github.com/dartsim/dart.git) | ![dart](https://img.shields.io/github/stars/dartsim/dart.svg?style=flat&label=Star&maxAge=86400) |
      • Flex
      • FROST - 3-Clause | [github](https://github.com/ayonga/frost-dev) | ![ayonga/frost-dev](https://img.shields.io/github/stars/ayonga/frost-dev.svg?style=flat&label=Star&maxAge=86400) |
      • IBDS
      • Klampt - 3-Clause | [github](https://github.com/krishauser/Klampt) | ![Klampt](https://img.shields.io/github/stars/krishauser/Klampt.svg?style=flat&label=Star&maxAge=86400) |
      • LibrePilot - 3.0 | [bitbucket](https://bitbucket.org/librepilot/librepilot), [github](https://github.com/librepilot/LibrePilot) | ![LibrePilot](https://img.shields.io/github/stars/librepilot/LibrePilot.svg?style=flat&label=Star&maxAge=86400) |
      • MBDyn - 2.1 | [download](https://www.mbdyn.org/?Software_Download) | |
      • MBSim - env/mbsim) | ![mbsim-env/mbsim](https://img.shields.io/github/stars/mbsim-env/mbsim.svg?style=flat&label=Star&maxAge=86400) |
      • MBSlib - 3.0 | [github](https://github.com/SIM-TU-Darmstadt/mbslib) | ![mbslib](https://img.shields.io/github/stars/SIM-TU-Darmstadt/mbslib.svg?style=flat&label=Star&maxAge=86400) |
      • mvsim - 3.0 | [github](https://github.com/ual-arm-ros-pkg/mvsim) | ![ual-arm-ros-pkg/mvsim](https://img.shields.io/github/stars/ual-arm-ros-pkg/mvsim.svg?style=flat&label=Star&maxAge=86400) |
      • ODE - 2.1 or BSD-3-Clause | [bitbucket](https://bitbucket.org/odedevs/ode) | |
      • PhysX
      • PyDy - 3-Clause | [github](https://github.com/pydy/pydy) | ![pydy](https://img.shields.io/github/stars/pydy/pydy.svg?style=flat&label=Star&maxAge=86400) |
      • RBDL
      • RaiSim
      • Rigs of Rods - 3.0 | [github](https://github.com/RigsOfRods/rigs-of-rods) | ![RigsOfRods/rigs-of-rods](https://img.shields.io/github/stars/RigsOfRods/rigs-of-rods.svg?style=flat&label=Star&maxAge=86400) |
      • RobWork - 2.0 | [gitlab](https://gitlab.com/sdurobotics/RobWork) | |
      • siconos - 2.0 | [github](https://github.com/siconos/siconos) | ![siconos](https://img.shields.io/github/stars/siconos/siconos.svg?style=flat&label=Star&maxAge=86400) |
      • SOFA - 2.1 | [github](https://github.com/sofa-framework/sofa) | ![sofa](https://img.shields.io/github/stars/sofa-framework/sofa.svg?style=flat&label=Star&maxAge=86400) |
      • inverse kinematics - kinematics))
      • inverse dynamics
      • simultaneous localization and mapping
      • OpenRAVE - 3.0 | [github](https://github.com/rdiankov/openrave) | ![openrave](https://img.shields.io/github/stars/rdiankov/openrave.svg?style=flat&label=Star&maxAge=86400) |
      • nphysics - 3-Clause | [github](https://github.com/sebcrozet/nphysics) | ![sebcrozet/nphysics](https://img.shields.io/github/stars/sebcrozet/nphysics.svg?style=flat&label=Star&maxAge=86400) |

    • [Machine Learning](#awesome-robotics-libraries)

      • DyNet - The Dynamic Neural Network Toolkit [[github](http://github.com/clab/dynet) ![clab/dynet](https://img.shields.io/github/stars/clab/dynet.svg?style=flat&label=Star&maxAge=86400)]
      • Fido - Lightweight C++ machine learning library for embedded electronics and robotics [[github](http://github.com/FidoProject/Fido) ![FidoProject/Fido](https://img.shields.io/github/stars/FidoProject/Fido.svg?style=flat&label=Star&maxAge=86400)]
      • OpenAI Gym - Developing and comparing reinforcement learning algorithms [[github](http://github.com/openai/gym) ![gym](https://img.shields.io/github/stars/openai/gym.svg?style=flat&label=Star&maxAge=86400)]
      • RLLib - Temporal-difference learning algorithms in reinforcement learning [[github](http://github.com/samindaa/RLLib) ![samindaa/RLLib](https://img.shields.io/github/stars/samindaa/RLLib.svg?style=flat&label=Star&maxAge=86400)]

    • [Motion Planning and Control](#awesome-robotics-libraries)

      • towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots [[github](https://github.com/ethz-adrl/towr) ![ethz-adrl/towr](https://img.shields.io/github/stars/ethz-adrl/towr.svg?style=flat&label=Star&maxAge=86400)]
      • Faster cover trees
      • OctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees [[github](https://github.com/OctoMap/octomap) ![octomap](https://img.shields.io/github/stars/OctoMap/octomap.svg?style=flat&label=Star&maxAge=86400)]
      • nanoflann - Nearest Neighbor search with KD-trees [[github](https://github.com/jlblancoc/nanoflann) ![nanoflann](https://img.shields.io/github/stars/jlblancoc/nanoflann.svg?style=flat&label=Star&maxAge=86400)]
      • MoveIt! - Motion planning framework [[github](https://github.com/ros-planning/moveit) ![moveit](https://img.shields.io/github/stars/ros-planning/moveit.svg?style=flat&label=Star&maxAge=86400)]

    • [Optimization](#awesome-robotics-libraries)

      • CasADi - Symbolic framework for algorithmic differentiation and numeric optimization [[github](https://github.com/casadi/casadi) ![casadi](https://img.shields.io/github/stars/casadi/casadi.svg?style=flat&label=Star&maxAge=86400)]
      • Ceres Solver - Large scale nonlinear optimization library [[github](https://github.com/ceres-solver/ceres-solver) ![ceres-solver](https://img.shields.io/github/stars/ceres-solver/ceres-solver.svg?style=flat&label=Star&maxAge=86400)]
      • HYPRE - Parallel solvers for sparse linear systems featuring multigrid methods [[github](https://github.com/LLNL/hypre) ![LLNL/hypre](https://img.shields.io/github/stars/LLNL/hypre.svg?style=flat&label=Star&maxAge=86400)]
      • OptimLib - Lightweight C++ library of numerical optimization methods for nonlinear functions [[github](https://github.com/kthohr/optim) ![kthohr/optim](https://img.shields.io/github/stars/kthohr/optim.svg?style=flat&label=Star&maxAge=86400)]
      • Pagmo - Scientific library for massively parallel optimization [[github](https://github.com/esa/pagmo2) ![esa/pagmo2](https://img.shields.io/github/stars/esa/pagmo2.svg?style=flat&label=Star&maxAge=86400)]
      • pymoo - Multi-objective Optimization in Python [[github](https://github.com/msu-coinlab/pymoo) ![msu-coinlab/pymoo](https://img.shields.io/github/stars/msu-coinlab/pymoo.svg?style=flat&label=Star&maxAge=86400)]
      • RobOptim - Numerical Optimization for Robotics. [[github](https://github.com/roboptim/roboptim-core) ![roboptim/roboptim-core](https://img.shields.io/github/stars/roboptim/roboptim-core.svg?style=flat&label=Star&maxAge=86400)]
      • limbo - Gaussian processes and Bayesian optimization of black-box functions [[github](https://github.com/resibots/limbo) ![resibots/limbo](https://img.shields.io/github/stars/resibots/limbo.svg?style=flat&label=Star&maxAge=86400)]

    • [Robot Platform](#awesome-robotics-libraries)

      • AutoRally - High-performance testbed for advanced perception and control research [[github](https://github.com/autorally/autorally) ![autorally/autorally](https://img.shields.io/github/stars/autorally/autorally.svg?style=flat&label=Star&maxAge=86400)]
      • Linorobot - ROS compatible ground robots [[github](https://github.com/linorobot/linorobot) ![linorobot/linorobot](https://img.shields.io/github/stars/linorobot/linorobot.svg?style=flat&label=Star&maxAge=86400)]
      • Rock - Software framework for robotic systems
      • YARP - Communication and device interfaces applicable from humanoids to embedded devices [[github](https://github.com/robotology/yarp) ![robotology/yarp](https://img.shields.io/github/stars/robotology/yarp.svg?style=flat&label=Star&maxAge=86400)]

    • [SLAM](#awesome-robotics-libraries)

      • fiducials - Simultaneous localization and mapping using fiducial markers [[github](http://github.com/UbiquityRobotics/fiducials) ![UbiquityRobotics/fiducials](https://img.shields.io/github/stars/UbiquityRobotics/fiducials.svg?style=flat&label=Star&maxAge=86400)]
      • [bitbucket

    • [Vision](#awesome-robotics-libraries)

      • ViSP - Visual Servoing Platform [[github](https://github.com/lagadic/visp) ![lagadic/visp](https://img.shields.io/github/stars/lagadic/visp.svg?style=flat&label=Star&maxAge=86400)]

    • [Fluid](#awesome-robotics-libraries)

      • Fluid Engine Dev - Jet - Fluid simulation engine for computer graphics applications [[github](https://github.com/doyubkim/fluid-engine-dev) ![doyubkim/fluid-engine-dev](https://img.shields.io/github/stars/doyubkim/fluid-engine-dev.svg?style=flat&label=Star&maxAge=86400)]

    • [Robot Modeling](#awesome-robotics-libraries)

      • SDF - XML format that describes objects and environments for robot simulators, visualization, and control ([bitbucket](https://bitbucket.org/osrf/sdformat))
      • urdf - XML format for representing a robot model [[github](https://github.com/ros/urdfdom) ![ros/urdfdom](https://img.shields.io/github/stars/ros/urdfdom.svg?style=flat&label=Star&maxAge=86400)]

  • [Other Awesome Lists](#awesome-robotics-libraries)

  • [Contributing](#awesome-robotics-libraries)

  • [License](#awesome-robotics-libraries)

    • [ETC](#awesome-robotics-libraries)

Programming Languages
Python 1 C++ 1
Categories
[Libraries](#awesome-robotics-libraries) 54 [Simulators](#awesome-robotics-libraries) 13 [Other Awesome Lists](#awesome-robotics-libraries) 5 [Contributing](#awesome-robotics-libraries) 1 [License](#awesome-robotics-libraries) 1
Sub Categories
[Dynamics Simulation](#awesome-robotics-libraries) 27 [Optimization](#awesome-robotics-libraries) 8 [ETC](#awesome-robotics-libraries) 7 [Motion Planning and Control](#awesome-robotics-libraries) 5 [Machine Learning](#awesome-robotics-libraries) 4 [Robot Platform](#awesome-robotics-libraries) 4 [SLAM](#awesome-robotics-libraries) 2 [Robot Modeling](#awesome-robotics-libraries) 2 [Fluid](#awesome-robotics-libraries) 1 [Vision](#awesome-robotics-libraries) 1
Keywords
ai 2 artificial-intelligence 2 deep-learning 2 neural-network 2 machine-learning 2 self-driving-car 1 research 1 platform-independent 1 pixhawk 1 drones 1 deeplearning 1 deep-reinforcement-learning 1 cross-platform 1 control-systems 1 computer-vision 1 autonomous-vehicles 1 autonomous-quadcoptor 1 airsim 1 simulator 1 unreal-engine 1 robotics 1 intelligent-machines 1 intelligent-systems 1 machine-intelligence 1 reinforcement-learning 1 statistical-learning 1 unsupervised-learning 1 awesome 1 awesome-list 1 deep-learning-tutorial 1 deep-networks 1 face-images 1 recurrent-networks 1