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.

Access 100 robot descriptions from the main Python robotics frameworks

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

Python inverse kinematics based on Pinocchio

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

URDF importer

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

Open-source diff drive robot ROS 2 compatible

Multibody Dynamics Library designed for Free Floating Robots

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

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)