urdf

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

Python inverse kinematics using Pinocchio and QP solvers

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

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

Python parser for URDFs

Multibody Dynamics Library designed for Free Floating Robots

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.