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

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

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)

A curated list of awesome robot descriptions (URDF, MJCF)

IKPy, an Universal Inverse Kinematics library

An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.

URDF Loaders for Unity and THREE.js with example ATHLETE URDF Files open sourced from NASA JPL

Access 125+ robot descriptions from the main Python robotics frameworks

visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux

Python inverse kinematics using Pinocchio and QP solvers

Converting Onshape assembly to robot definition (URDF, SDF, MuJoCo) through Onshape API

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.

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)

URDF importer

Open-source diff drive robot ROS 2 compatible

A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques

RobotCAD is a FreeCAD workbench to generate robot description packages for ROS2 (URDF) with launchers to Gazebo and RViz. Includes controllers based on ros2_controllers and sensors based on Gazebo. With integrated ready to use models library.

Multibody Dynamics Library designed for Free Floating Robots

ROS2 based custom robotic arm with ros2_control