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.

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

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

DART: Dynamic Animation and Robotics Toolkit

MAC (Multi-Agent CAD): A decoupled multi-agent framework for text-to-CAD generation via constrained test-time compute

IKPy, an Universal Inverse Kinematics library

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

Python inverse kinematics using Pinocchio and QP solvers

Access 200+ robot descriptions from the main Python robotics frameworks

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

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

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

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.

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.