Urdf GitHub Repositories (2026) · Open Source Tools

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

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

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

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.

CROSS CAD and ROS, an Open-Source Synergy; ROS workbench for FreeCAD

DART: Dynamic Animation and Robotics Toolkit