python 机器人开发库_机器人开发库软件大列表

NameModelsFeaturesLanguagesLicensesCodePopularityARCSimsoftC++

Bulletrigid, softik, idC++, PythonZlibgithub

CHRONO::ENGINErigid, soft, granular, fluidik, urdfC++, PythonBSD-3-Clausegithub

DARTrigid, softik, id, plan, urdf, sdfC++, PythonBSD-2-Clausegithub

Drakerigid, aero, fluidik, trj-opt, planC++, MatlabBSD-3-Clausegithub

Flexrigid, soft, particle, fluidC++github

FROSTrigidMATLABBSD-3-Clausegithub

IBDSrigid, particleC++Zlib

idyntreerigididC++, Python, Matlab, LuaLGPL-2.1github

KDLrigidikC++LGPL-2.1github

kindrrigid(todo)C++, MatlabBSD-3-Clausegithub

Klampt(todo)(todo)C++, PythonBSD-3-Clausegithub

LibrePilotuav, vehicles(todo)C++GPL-3.0bitbucket, github

MARS(todo)(todo)C++, PythonLGPL-3.0github

MBDyn(todo)(todo)C++GPL-2.1download

MBSim(todo)(todo)C++(not specified)github

MBSlib(todo)(todo)C++LGPL-3.0github

metapod(todo)(todo)C++LGPL-3.0github

MobyrigididC++GPL-2.0github

mrptvehicleslam, cvC++, Python, MatlabBSD-3-Clausegithub

MuJoCo(todo)idC++, Pythonlicensesclosed source

Newton Dynamics(todo)(todo)C++Zlibgithub

nphysics(todo)(todo)RustBSD-3-Clausegithub

ODErigidC++LGPL-2.1 or BSD-3-Clausebitbucket

OpenRAVE(todo)(todo)C++, PythonLGPL-3.0github

pinocchiorigidik, idC++, PythonLGPL-3.0github

PositionBasedDynamics(todo)(todo)C++MITgithub

PyDy(todo)(todo)PythonBSD-3-Clausegithub

RBDLrigidikC++, PythonLGPL-3.0bitbucket

RBDynrigid(todo)C++, PythonLGPL-3.0github

ReactPhysics3d(todo)(todo)C++Zlibgithub

Robopy(todo)(todo)Python 3MITgithub

Robotics Library(todo)(todo)C++GPL-3.0 or BSD-2-Clausegithub

RobWork(todo)(todo)C++Apache-2.0SVN (id/pw required)

siconos(todo)(todo)C++, PythonApache-2.0github

Simbodyrigid, moleculesid, urdfC++Apache-2.0github

SOFArigid, soft, medical(todo)C++LGPL-2.1github

treprigiddm, trj-optC, PythonGPL-3.0github

qu3erigid-C++Zlibgithub

For simplicity, shortened names are used to represent the supported models and features asSupported Modelsrigid: 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 Designdm: 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 LearningOpenAI Gym - Developing and comparing reinforcement learning algorithms [github]gym-dart [github]

gym-gazebo [github]

Motion Planning and ControlAikido - 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 Optimizertrajopt - Framework for generating robot trajectories by local optimization [github]Nearest NeighborCover-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 MappingOctoMap - Efficient Probabilistic 3D Mapping Framework Based on Octrees [github]

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

OptimizationCasADi - 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 ModelingRobot Model Description FormatSDF - 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 Modelsphobos - Add-on for Blender creating URDF and SMURF robot models [github]

Robot PlatformLinorobot - 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]

SLAMCartographer - 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]

VisionViSP - Visual Servoing Platform [github]

Other Awesome ListsAwesome Robotics (Kiloreux)

Awesome Robotics (ahundt)

Awesome Artificial Intelligence

Awesome Collision Detection

Awesome Computer Vision

Awesome Machine Learning

Awesome Deep Learning

Awesome Gazebo

PythonRobotics

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

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