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= Robotics Free/Libre Open Source Software at CNRS/LAAS = ## page was renamed from FrontPageNew
= Robotics Open Source Software developed at CNRS/LAAS =
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'''Software''' == Main Software ==
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 . '''[[Genom3]]'''  . '''[[https://git.openrobots.org/projects/genom3|Genom3]]''' a tool to design real-time software architectures.
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 . '''[[HRI Stack]]'''  . '''[[https://github.com/search?q=topic%3Ahri+org%3Alaas|HRI Stack]]''' Human-Robot Interaction software stack
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 . '''[[Robotpkg]]'''  . '''[[https://git.openrobots.org/projects/openprs|OpenPRS]]''' An implementation of the Procedural Reasoning System

 . '''[[http://robotpkg.openrobots.org/|Robotpkg]]''' packaging tools, with many robotics software available

 . ''[[https://git.openrobots.org/|Other projects]]''

== Publications ==

 . '''[[https://hal.laas.fr/LAAS-ROBOTIQUE|Papers, articles and thesis]]'''
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'''Publications''' == Table ==
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 . '''[[Papers]]''' || Category || Problem || Software || Description || Main publication || Doc || Code ||
||<|4> General || Architecture || [[https://git.openrobots.org/projects/genom3|Genom3]] || a tool to design real-time software architectures || || [[https://git.openrobots.org/projects/genom3/gollum/index|doc]] [[https://git.openrobots.org/projects/genom3/wiki|wiki]] || [[https://git.openrobots.org/projects/genom3/repository|code]] ||
|| Supervision || [[https://git.openrobots.org/projects/openprs|OpenPRS]] || an implementation of the Procedural Reasoning System || || [[http://homepages.laas.fr/felix/publis-pdf/oprs.|doc]] [[https://git.openrobots.org/projects/openprs/wiki|wiki]] || [[https://git.openrobots.org/projects/openprs/repository|code]] ||
|| Packaging || [[http://robotpkg.openrobots.org/|Robotpkg]] || packaging tools, with many robotics software available || || || [[https://git.openrobots.org/projects/robotpkg|code]]||
|| Calibration || [[https://gepettoweb.laas.fr/articles/figaroh-2023.html|Figaroh]] || geometric calibration and dynamic identification of robots and humans ||[[https://laas.hal.science/hal-04234676|FIGAROH a Python toolbox for dynamic identification and geometric calibration of robots and humans]] || || [[https://gitlab.laas.fr/gepetto/figaroh/-/tree/devel|code]]||
||<|3>Humanoids || Motion Planning || [[https://humanoid-path-planner.github.io/hpp-doc/|Humanoid Path Planner]] || Software for Motion and Manipulation Planning || [[https://laas.hal.science/hal-02995125|Prehensile Manipulation Planning: Modeling, Algorithms and Implementation]] || [[http://projects.laas.fr/gepetto/hpp/hpp-doc/|doc]] [[https://humanoid-path-planner.github.io/hpp-doc/tutorials.html|tuto]] || [[https://github.com/humanoid-path-planner/|code]] ||
|| Control || [[http://stack-of-tasks.github.io/|Stack of Tasks]] || Software for Controlling Redundant Robots || [[https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796736|A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks]] || [[http://stack-of-tasks.github.io/sot-core/doxygen/HEAD/|doc]] [[http://stack-of-tasks.github.io/tuto_getting_started.html|tuto]] || [[https://github.com/stack-of-tasks/|code]] ||
|| Rigid Body Dynamics || [[http://stack-of-tasks.github.io/pinocchio/|Pinocchio]] || Fast Forward Inverse Dynamic for Multibody Systems || || [[http://stack-of-tasks.github.io/pinocchio/doxygen/HEAD/index.html|doc]] [[http://stack-of-tasks.github.io/pinocchio/tutorials.html|tuto]] || [[https://github.com/stack-of-tasks/pinocchio|code]] ||
||<|3> Human-Robot Interaction || Task Planning || [[https://www.openrobots.org/wiki/HATP|HATP]] ||an HTN based Human-Aware Task Planner|| [[https://hal.archives-ouvertes.fr/hal-01055493|HATP: An HTN Planner for Robotics]] || [[https://www.openrobots.org/wiki/HATP|doc]] || [[https://www.openrobots.org/wiki/HATP|code]] ||
|| Motion Planning || || || || || ||
|| Situation Assesment || || || || || ||
||<|1> Aerial robotics || Aerial robots control || [[https://git.openrobots.org/projects/art|ART]] || High-level robotic components for aerial mobile robots for state estimation, trajectory planning, position control ... || || || ||
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 . '''[[Other]]''' == Discontinued projects ==

 . '''[[http://morse-simulator.github.io/|Morse]]''' Modular simulator for robotics

|| Category || Software || Description || Main publication || Doc ||
|| Simulation || [[http://morse-simulator.github.io/|Morse]] || modular simulator for robotics || [[http://www.openrobots.org/morse/doc/latest/media.html#morse-related-academic-publications|related publications]] || [[http://morse-simulator.github.io/|doc]] ||

Robotics Open Source Software developed at CNRS/LAAS

Main Software

  • Genom3 a tool to design real-time software architectures.

  • HRI Stack Human-Robot Interaction software stack

  • OpenPRS An implementation of the Procedural Reasoning System

  • Robotpkg packaging tools, with many robotics software available

  • Other projects

Publications

Table

Category

Problem

Software

Description

Main publication

Doc

Code

General

Architecture

Genom3

a tool to design real-time software architectures

doc wiki

code

Supervision

OpenPRS

an implementation of the Procedural Reasoning System

doc wiki

code

Packaging

Robotpkg

packaging tools, with many robotics software available

code

Calibration

Figaroh

geometric calibration and dynamic identification of robots and humans

FIGAROH a Python toolbox for dynamic identification and geometric calibration of robots and humans

code

Humanoids

Motion Planning

Humanoid Path Planner

Software for Motion and Manipulation Planning

Prehensile Manipulation Planning: Modeling, Algorithms and Implementation

doc tuto

code

Control

Stack of Tasks

Software for Controlling Redundant Robots

A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks

doc tuto

code

Rigid Body Dynamics

Pinocchio

Fast Forward Inverse Dynamic for Multibody Systems

doc tuto

code

Human-Robot Interaction

Task Planning

HATP

an HTN based Human-Aware Task Planner

HATP: An HTN Planner for Robotics

doc

code

Motion Planning

Situation Assesment

Aerial robotics

Aerial robots control

ART

High-level robotic components for aerial mobile robots for state estimation, trajectory planning, position control ...

Discontinued projects

  • Morse Modular simulator for robotics

Category

Software

Description

Main publication

Doc

Simulation

Morse

modular simulator for robotics

related publications

doc

OpenrobotsWiki: OpenRobotsFrontPage (last edited 2025-04-07 15:46:49 by matthieu)