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.
A curated list of awesome robot descriptions (URDF, MJCF)
ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
C++20 physics engine for robotics and animation with collision, constraints, and Python bindings
IKPy, an Universal Inverse Kinematics library
URDF Loaders for Unity and THREE.js with example ATHLETE URDF Files open sourced from NASA JPL
Access 185+ robot descriptions from the main Python robotics frameworks
Python inverse kinematics using Pinocchio and QP solvers
visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux
76 audit-ready Claude skills automating the industrial robot, cobot, AMR, ROS2, V&V, AI/ML, and IEC 62443 lifecycle. 38 builder + reviewer pairs anchored to ISO 10218, 13849, 62061, 12100, 9283, 15066, 3691-4, and IEC 62443.
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 models library and a lot of other tools. In other words CAD → ROS2.
URDF-Studio is a web-based visual URDF robot modeler with 3D workspace, structured skeleton/detail/hardware workflows, motor library integration, MuJoCo export, and AI assistance.
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
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