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论文Awesome Robotics Libraries
A curated list of robotics simulators and libraries.
Table of Contents
Simulators
Free or Open Source
- AI2-THOR - Python framework with a Unity backend, providing interaction, navigation, and manipulation support for household based robotic agents [github
] - AirSim - Simulator based on Unreal Engine for autonomous vehicles [github
] - ARGoS - Physics-based simulator designed to simulate large-scale robot swarms [github
] - ARTE - Matlab toolbox focussed on robotic manipulators [github
] - AVIS Engine - Autonomous Vehicles Intelligent simulation software, A Fast and robust simulator software for Autonomous vehicle development. [github
] - CARLA - Open-source simulator for autonomous driving research [github
] - CoppeliaSim - Formaly V-REP. Virtual robot experimentation platform [github
] - Gazebo - Dynamic multi-robot simulator [github
] - GraspIt! - Simulator for grasping research that can accommodate arbitrary hand and robot designs [github
] - Habitat-Sim - Simulation platform for research in embodied artificial intelligence [github
] - Hexapod Robot Simulator - Open-source hexapod robot inverse kinematics and gaits visualizer [github
] - Ignition Gazebo - Open source robotics simulator [github
] - Isaac Sim - Nvidia's robotic simulation environment with GPU physics simulation and ray tracing
- MORSE - Modular open robots simulation engine [github
] - Neurorobotics Platform - Internet-accessible simulation of robots controlled by spiking neural networks [bitbucket]
- PyBullet - An easy to use simulator for robotics and deep reinforcement learning [github
] - PyBullet_Industrial - A extension to PyBullet that allows for the simulation of various robotic manufacturing processes such as milling or 3D-printing. [github
] - Robot Gui - A three.js based 3D robot interface [github
] - SAPIEN - A realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. [github
] - Simbad - A Java 3D robot simulator, enables to write own robot controller with modifying environment using available sensors.
- Unity - Popular game engine that now offers open-source tools, tutorials, and resources for robotics simulation [github
] - Webots - A complete development environment to model, program and simulate robots, vehicles and mechanical systems [github
]
Commercial
- Actin Simulation
- Artiminds - Planning, programming, operation, analysis and optimization
- Kineo - Path planning and trajectory optimization for industrial robotics and digital mock-up review applications
- RobotDK - Simulation and OLP for robots
- RobotStudio
- Robot Virtual Worlds
- Virtual Robotics Toolkit
- Visual Components
Cloud
- AWS RoboMaker - Service that makes it easy to develop, test, and deploy intelligent robotics applications at scale
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, urdf, sdf | 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 | |
| mvsim | vehicle | (todo) | C++ | GPL-3.0 | github |
