This repository is a curated collection of robot description files (URDF, xacro, STL/DAE meshes) for multiple mobile manipulator platforms (Unitree B1+Z1, Aliengo+Z1, Go2+ARX, PR2, Ridgeback+UR5, Mabi Mobile) combined with an extensive awesome-list survey of loco-manipulation research papers. The robot models are well-structured with parameterized xacro macros, detailed inertial parameters, and simulation-ready Gazebo plugins. The paper list is meticulously organized by methodology (model-based control, learning-based, foundation models) with verified links. While the repository contains no application code or data pipelines, it serves as a valuable reference for researchers and engineers needing ready-to-use robot models for simulation or a comprehensive literature overview. The primary value lies in the reusable xacro patterns and the curated paper index.
SimART is an open-source simulation platform for wireless communication and sensing research, integrating ray-tracing (Sionna RT), 3D visualization (VTK/Qt), drone simulation (AirSim/Unreal Engine), and ROS1 for data streaming. The system provides a desktop GUI (C++/Qt5) that loads 3D scenes from files, OpenStreetMap, or AirSim, and orchestrates real-time or offline radio propagation simulations. It generates channel knowledge maps (CKMs), beam codebooks, and system-level metrics (SINR, BLER, MCS), and supports machine learning-based beam selection via a DeepSense predictor. The platform is designed for researchers prototyping algorithms for UAV communications, beamforming, and link adaptation. While the codebase is functionally rich and modular in parts (scene providers, transform manager, socket workers), it suffers from significant technical drift: it depends on ROS1 (end-of-life), Unreal Engine 4.27 (discontinued), Qt5, and legacy VTK APIs. The C++ code contains large monolithic files (e.g., OsmSceneProvider.cpp ~1100 lines) and duplication between C++ and Python transform logic. There are no automated tests, and many configuration files lack schema validation. Despite these issues, several components (blender scripts, beam codebook utilities, scene provider interface) are well-isolated and could be reused in other projects with minimal adaptation.
NDlib is a Python library for modeling and simulating diffusion processes on complex networks, with a strong focus on epidemic compartment models and opinion dynamics. It provides a collection of built-in models (SIR, SEIR, voter model, bounded confidence, etc.), a flexible compartment-based composition system for building custom models, and a domain-specific language (NDQL) for defining models declaratively. The library also includes an interactive dashboard server for code-free experimentation, visualization modules (matplotlib and bokeh), and a sensitivity analysis runner via SALib. While the codebase demonstrates solid architectural patterns such as abstract base classes, configuration objects, and block schema registries, it suffers from significant technical drift: it retains Python 2 compatibility shims (six, future), uses outdated dependency versions, and has brittle test infrastructure. The dashboard and parser rely on dynamic code generation that is fragile. Overall, NDlib is a functional research-oriented library with reusable compartment and configuration patterns, but its maintenance has stalled, making it risky for new projects without substantial modernization.
This repository provides the firmware and desktop tools for Petoi's quadruped robots (Bittle, Nybble, Chero). The core is an Arduino-based firmware (OpenCat.ino) running on ATmega328P (NyBoard) that handles servo control, gait generation, IMU integration, sensor processing (IR, ultrasonic, gesture, voice), and skill execution via pre-programmed motion sequences. A Python desktop application (pyUI) offers firmware upload, joint calibration, skill composition, and debugging. A Python serial API (serialMaster, OpenCatPythonAPI) enables scripting robot behaviors. The architecture is monolithic firmware with conditional compilation for multiple hardware variants and sensor options. While the project has a large user base and extensive documentation, the codebase shows signs of technical drift: it is explicitly legacy (development moved to OpenCatESP32), relies on outdated libraries, has duplicated code (e.g., three copies of IRremote), and uses global state and hardcoded paths. The skill system and serial protocol are well-defined patterns, but overall reusability is limited by tight coupling to specific hardware and board versions.