Top 23 motion-planning Open-Source Projects

• UniAD

  1 2,780 7.1 Python

  [CVPR 2023 Best Paper] Planning-oriented Autonomous Driving

  

• Fast-Planner

  1 2,168 3.2 C++

  A Robust and Efficient Trajectory Planner for Quadrotors

  

• InfluxDB

  www.influxdata.com sponsored

  Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.

  

• awesome-robotics-libraries

  1 2,106 4.9

  :sunglasses: A curated list of robotics libraries and software

• Unity-Robotics-Hub

  12 1,864 0.0 C#

  Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.

  

Project mention: Create VR-Controlled Roboter in Unity | /r/ROS | 2023-11-01

So far I have cloned the Universal_Robots_ROS2_Description and Robotiq_2f_140 (Supported for ROS2) in my workspace. Since I want to implement my Robot in Unity I am following the Unity Integration tutorial and the moveit tutorial.

• robotics-toolbox-python

  8 1,848 5.9 Python

  Robotics Toolbox for Python

• pinocchio

  9 1,461 9.1 C++

  A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

  

Project mention: Good examples of C++ source code for math oriented software development? | /r/cpp_questions | 2023-06-17

• path_planner

  1 1,421 3.2 C++

  Hybrid A* Path Planner for the KTH Research Concept Vehicle

• WorkOS

  workos.com sponsored

  The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.

  

• symforce

  15 1,343 9.0 C++

  Fast symbolic computation, code generation, and nonlinear optimization for robotics

  

Project mention: SymPy: Symbolic Mathematics in Python | news.ycombinator.com | 2024-02-28

You might find this library interesting: https://github.com/symforce-org/symforce

• ompl

  1 1,314 7.6 C++

  The Open Motion Planning Library (OMPL)

  

Project mention: Best practices in creating a Rust API for a C++ library? Seeking advice from those who've done it before. | /r/rust | 2023-05-26

In Robotics, the Open Motion Planning Library (OMPL) is a popular library for multi-dimensional motion planning, and is used by ROS and other robotics-related software. There are no Rust bindings to OMPL (though there is Rust support for software like ROS), and the library is written almost exclusively in C++. There are Python bindings, but those are generated using Py++. The header files throughout OMPL are C++ header files, not C, as they contain namespaces, classes, etc.

• Robotics Library (RL)

  2 840 5.2 C++

  The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.

  

• towr

  1 836 0.0 C++

  A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

  

• crocoddyl

  1 688 8.8 C++

  Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

  

• ruckig

  4 580 8.1 C++

  Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

Project mention: WebAssembly: Building GUI for C++ libraries with Embind | dev.to | 2023-09-17

There is an open-source project which is of personal interest for me -- a robotic motion planning library which is called Ruckig. It is a relatively small C++17 tool which does one thing and does it well -- it plans kinematically-optimal multi-degrees-of-freedom trajectories for robotics controllers. Doesn't matter what it really means. It is a software library that is supposed to be a part of another software tools or libraries. It has Python bindings (of course), and can be used from a Jupyter notebook. Well, as I found recently, it now has WebAssembly bindings too to provide a simple web GUI.

• ur5_ROS-Gazebo

  1 387 0.0 Python

  Universal Robot (UR5) Pick and Place Simulation in ROS-Gazebo with a USB Cam and Vacuum Grippers

• webots_ros2

  3 362 7.7 C

  Webots ROS 2 packages

  

• AirSim-NeurIPS2019-Drone-Racing

  1 338 0.0 Python

  Drone Racing @ NeurIPS 2019, built on Microsoft AirSim

  

• Robotics-Object-Pose-Estimation

  2 263 0.0 Python

  A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task.

  

• CleanIt

  6 254 3.7 Rust

  Open-source Autonomy Software in Rust-lang using gRPC for the Roomba series robot vacuum cleaners. Under development.

• tesseract

  1 231 8.6 C++

  Motion Planning Environment (by tesseract-robotics)

  

• AIKIDO

  0 209 2.6 C++

  Artificial Intelligence for Kinematics, Dynamics, and Optimization

  

• deep_grasp_demo

  1 96 0.0 C++

  Deep learning for grasp detection within MoveIt.

  

• Robotics-Resources

  1 71 3.6

  List of commonly used robotics libraries and packages

• robot

  5 51 7.2 Python

  Functions and classes for gradient-based robot motion planning, written in Ivy. (by Transpile-AI)

  

• SaaSHub

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  SaaSHub - Software Alternatives and Reviews. SaaSHub helps you find the best software and product alternatives

  

motion-planning related posts

• Ruckig: Motion Generation for Robots and Machines
  1 project | news.ycombinator.com | 11 Jun 2023
• Fast RRT simulation in the rviz (link to the code in comments )
  1 project | /r/Simulate | 22 Apr 2021
• Robotics-Resources: Find all the robotic frameworks, libraries, papers, and textbooks in one place.
  3 projects | /r/robotics | 14 Apr 2021
• How to implement gait correction in my biped
  1 project | /r/robotics | 12 Apr 2021

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