📚 Awesome Robotics Libraries 🤓
A curated list of robotics simulators and libraries.
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These libraries offer a wide range of functionalities from dynamics simulation and inverse kinematics to machine learning and data visualization:
1. ARCSim:
A dynamics simulation library for soft robotics. It supports inverse kinematics, inverse dynamics, and URDF/SDF models. It is written in C and Python and is licensed under Zlib:
graphics.berkeley.edu/resour…
2. CHRONO::ENGINE:
A physics engine developed for real-time simulations, with applications in robotics, vehicle dynamics, aerospace, and biomechanics. It is written in C :
projectchrono.org/
3. RelaxedIK:
A library for real-time synthesis of accurate and feasible robot arm motion:
github.com/uwgraphics/relaxe…
4. Trip:
A Python package that solves inverse kinematics of parallel-, serial- or hybrid-robots:
github.com/TriPed-Robot/trip…
5. AllenAct:
A Python/PyTorch-based research framework for embodied AI:
github.com/allenai/allenact
6. DLL:
Deep Learning Library (DLL) for C , designed for machine learning and deep learning in robotics:
github.com/wichtounet/dll
7. DyNet:
The Dynamic Neural Network Toolkit, a neural network library developed by Carnegie Mellon University and many others:
github.com/clab/dynet
8. Fido:
A lightweight C machine learning library for embedded electronics and robotics:
github.com/FidoProject/Fido
9. Foxglove Studio:
A fully integrated visualization and debugging desktop app for your robotics data. It combines functionality of tools like rviz, rqt, and more:
foxglove.dev/
10. grl - Drivers:
Generic Robotics Library, a cross-platform library with drivers for Kuka iiwa and Atracsys FusionTrack. It also has cross-platform Hand Eye Calibration and Tool Tip Calibration:
github.com/ahundt/grl
11. OpenAI Gym:
Developing and comparing reinforcement learning algorithms:
github.com/openai/gym
12. The Control Toolbox ('CT'):
Is a C library for modelling, control, estimation, trajectory optimization and model predictive control:
ethz-adrl.github.io/ct/ct_do…
13. The Point Cloud Library (PCL):
Is a standalone, large scale, open project for 2D/3D image and point cloud processing. PCL is released under the terms of the BSD license, and thus free for commercial and research use:
github.com/PointCloudLibrary…
14. Ceres Solver - optimization:
Ceres Solver is an open source C library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010.
github.com/ceres-solver/cere…
15. ORB_SLAM2:
Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities:
github.com/raulmur/ORB_SLAM2
16. VISP - Vision:
Open Source Visual Servoing Platform
A modular cross platform library that allows prototyping and developing applications using visual tracking and visual servoing technics:
github.com/lagadic/visp
17. Dex-Net 2.0 - Dataset:
6.7 million pairs of synthetic point clouds and grasps with robustness labels:
bair.berkeley.edu/blog/2017/…
18. openimages:
Huge imagenet style dataset by Google:
github.com/openimages/datase…
They can be used in various applications, including soft robotics, robot arm motion, embodied AI, and more.
Source to find even more:
github.com/ahundt/awesome-ro…
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