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Tutorials

  • Overview
    • Tutorial: Building a Differential Drive Robot
      • What You Will Learn
      • Kinematic Tree
      • Step 1: Create the Base Link
      • Step 2: Create the Wheels
      • Step 3: Connect with Joints
      • Step 4: Add a Lidar Sensor
      • Step 5: Configure Control
      • Step 6: Validate and Export
    • Tutorial: Building a Differential Drive Robot (Programmatic)
      • What You Will Learn
      • Kinematic Tree
      • Step 1: Install linkforge-core
      • Step 2: Initialize RobotBuilder
      • Step 3: Create the Base Link
      • Step 4: Create the Wheels & Configure Control
      • Step 6: Validate & Export
      • Complete Python Script
    • Tutorial: Building a Parametric Serial Manipulator
      • What You Will Learn
      • Kinematic Tree
      • Step 1: Initialize the Builder & Base Link
      • Step 2: Write the Parametric Generation Loop
      • Step 3: Add a Tool Flange
      • Step 4: Configure MoveIt Semantic Data (SRDF)
      • Step 5: Validate and Export Both URDF and SRDF
      • Complete Python Script

How-to Guides

  • Overview
    • Best Practices
      • Modeling for Physics
      • Modular XACRO Design
      • Performance Tips
      • Control Configuration
      • Data Preservation
    • How-to: Add Sensors to Your Robot
      • Prerequisites
      • 1. Prepare the Sensor Link
      • 2. Attaching the Sensor
      • 3. Configuration
      • 4. Gazebo Integration
    • How-to: Configure Centralized Control
      • 1. Enable Control
      • 2. The Control Dashboard
      • 3. Global Hardware Settings
      • 4. Exporting (Modular XACRO)
    • How-to: Manage Collision Geometry
      • 1. Why Collision Matters
      • 2. Generating Collisions
      • 3. Compound Collisions
      • 4. Live Preview & Quality
      • 5. Manual Collisions
      • 6. Imported Robots & Protected Geometry
      • 7. Understanding Triangulation
    • How-to: Customize Joint Visualization
      • 1. The XYZ Frame
      • 2. Global Visualization Settings
      • 3. Cleaning the View
    • Configuring Physics & Inertia
      • Automatic Inertia Calculation
      • Manual Center of Mass (Inertial Origin)
      • Troubleshooting Physics
      • Programmatic Usage
    • Defining Semantic Data (SRDF)
      • 1. Planning Groups
      • 2. Group States (Named Poses)
      • 3. Disabling Self-Collisions
      • 4. Exporting SRDF
      • 5. Semantic Validation Linting
    • Gazebo Integration
      • Adding Gazebo Plugins Programmatically
    • Xacro Macros
      • Xacro Support
    • Troubleshooting
      • ️ Physics Stability
      • Kinematic Integrity
      • Asset & Export Management
      • ️ UI & Viewport
      • ️ Context & Mode Reliability
      • Pro Tips for Experts

Explanation

  • Overview
    • LinkForge Architecture: The Programmable Robot Description Engine
      • Architectural Philosophy: Hexagonal Core
      • Module Structure
      • Data Workflows
      • Core Engineering Principles
      • Performance & Security
    • Explanation: The LinkForge Data Model
      • The Semantic Bridge
    • Development Guide
      • Setup
      • 🧪 Testing
      • Code Quality
      • Building & Distribution
    • FAQ
      • Does LinkForge support ROS 1?
      • Does LinkForge require a ROS installation?
      • Can I use exported models in Unreal Engine or Unity?
      • Can I use LinkForge without Blender?
      • Why does LinkForge calculate inertia automatically?
      • What mesh formats should I use? (DAE vs. GLB)
      • Why does LinkForge flag “Multiple Root Links”?
      • How do I contribute?
      • What version of Blender is required?
      • Where did the “Transmissions” panel go?

API Reference

  • Overview
    • API Reference
      • LinkForge Composer API
      • Data Models
      • SRDF — Semantic Robot Description
      • Parsers
      • Generators
      • Physics Calculations
      • Validation
      • Validation Checks
      • Kinematic Graph
      • Blender Integration
      • Exceptions
      • Overview
      • Quick Reference
      • Module Index
    • Reference: Robot Structure & Mapping
      • Object Mapping
      • Supported Joint Types
      • Supported Geometry Primitives
      • Naming Conventions
      • Hierarchy Rules
      • Data Integrity & Status
      • Performance & Scalability
      • Property Storage
    • Glossary
      • Link
      • Joint
      • Root Link
      • Inertia Tensor
      • Joint Interface
      • Sensor
      • ROS 2 Control
      • Gazebo
      • URDF (Unified Robot Description Format)
      • XACRO (XML Macros)
      • Actuation Vector
      • SRDF (Semantic Robot Description Format)
      • Planning Group
      • Composer (RobotBuilder)
      • Kinematic Graph
    • Automated Testing
      • Test Philosophy
      • Test Organization
      • Running the Automated Suite
      • Continuous Integration (CI)
    • 🧪 LinkForge Manual QA Protocol
      • 📝 Test Session Metadata
      • 🚀 Scenario: The Lifecycle of a Robot
      • 🛡️ Resilience & Security (Pre-Flight)
      • 🏁 Final Verification
      • 💡 Known Anomalies
    • Related Specifications

About LinkForge

  • Changelog
    • 1.4.1 (2026-06-04)
      • 🐞 Bug Fixes
      • 📚 Documentation
      • 🛠️ Refactors
    • 1.4.0 (2026-05-29)
      • 🚀 Features
      • 🐞 Bug Fixes
      • 📚 Documentation
      • ⚡ Performance Updates
      • 🛠️ Refactors
    • 1.3.0 (2026-03-01)
      • 🚀 Features
      • 🐞 Bug Fixes
      • 📚 Documentation
      • ⚡ Performance Updates
      • 🛠️ Refactors
    • 1.2.3 (2026-02-14)
      • 🐞 Bug Fixes
      • 📚 Documentation
    • 1.2.2 (2026-02-07)
      • 🐞 Bug Fixes
      • 📚 Documentation
      • 🛠️ Refactors
    • 1.2.1 (2026-02-04)
      • 🐞 Bug Fixes
      • 📚 Documentation
      • 🛠️ Refactors
    • 1.2.0 (2026-01-24)
      • 🚀 Features
      • 🐞 Bug Fixes
      • 📚 Documentation
      • 🛠️ Refactors
    • 1.1.0 (2026-01-07)
      • 🚀 Features
      • 🐞 Bug Fixes
      • 📚 Documentation
      • 🛠️ Refactors
    • 1.0.0 - 2025-12-23
      • Features
      • Security
  • Contributing to LinkForge
    • Table of Contents
    • Code of Conduct
    • Getting Started
      • Prerequisites
      • Fork and Clone
    • Development Setup
      • 1. Install Dependencies
      • 2. Verify Setup
    • Project Structure
    • Development Workflow
      • 1. Create a Feature Branch
      • 2. Make Changes
      • 3. Run Quality Checks
      • 4. Live Testing in Blender (Development Mode)
      • 5. Testing the Release (Optional)
      • 6. Commit Changes
    • Testing
      • Running Tests
      • Manual QA (Mandatory)
      • Writing Tests
      • Debugging in Blender
    • Code Style
      • Python Style Guide
      • Documentation Standards (Lean Google Style)
      • “Physics as Truth” Design Principle
      • Linting Configuration
      • Pre-commit Hooks
    • Submitting Changes
      • Developer Certificate of Origin (DCO)
      • Pull Request Process
      • PR Title Format
    • Release Process
      • Release Standards
    • Technical Considerations
      • 1. The Blender Bridge (Foundation)
      • 2. URDF/XACRO Fidelity (Core)
      • 3. The ROS 2 Ecosystem (Integration)
      • 4. Validation Extensibility (Quality Control)
    • Maintainer Expectations
    • Governance
    • Getting Help
    • Recognition
      • All Contributors Bot
      • Academic Recognition
  • Citing LinkForge
    • Preferred Citation
      • BibTeX
      • APA
    • GitHub Citation
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