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

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

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

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

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

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

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.

Python inverse kinematics based on Pinocchio

Access 100+ robot descriptions from the main Python robotics frameworks

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

Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API

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

Multibody Dynamics Library designed for Free Floating Robots

ROS-Industrial Fanuc support (http://wiki.ros.org/fanuc)

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