> For the complete documentation index, see [llms.txt](https://panav.gitbook.io/robotics-handbook/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://panav.gitbook.io/robotics-handbook/computer-aided-design-and-simulations/computer-aided-design-and-simulations.md).

# CAD & Simulations (overview)

CAD and simulation for robotics - modeling, URDF/Xacro, Gazebo, Isaac Lab, physics engines, and digital twins.

CAD is where robot design lives. Simulation is where you test before hardware arrives. This section covers the tools and workflows.

### In this section

<table data-view="cards"><thead><tr><th></th><th data-type="content-ref"></th><th data-hidden data-card-cover data-type="files"></th></tr></thead><tbody><tr><td>3D Modelling CAD (Onshape, SolidWorks, Fusion 360)</td><td><a href="/robotics-handbook/computer-aided-design-and-simulations/3d-modelling-cad.md">3D Modelling CAD</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2F0BWU6DyKHdepMn3UOrmi%2Fprofessional-2d3d-preview-en.gif?alt=media&amp;token=8f06466b-3032-4f99-b3bd-9445a6d3efbf">professional-2d3d-preview-en.gif</a></td></tr><tr><td>Simulations (Gazebo, Isaac Sim, Webots)</td><td><a href="/robotics-handbook/computer-aided-design-and-simulations/simulations.md">Simulations</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2FqpjpXhS7wW85DRLtBNaC%2Fcube-scaled-down-2x.gif?alt=media&amp;token=7e7533ca-6f38-4b62-8fe3-7cd8483f214b">cube-scaled-down-2x.gif</a></td></tr><tr><td>Isaac Lab &#x26; Physics Engines</td><td><a href="/robotics-handbook/robot-learning/sim-to-real.md">Sim-to-Real</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2Fgit-blob-96e914f3442c23b42e4c26959eb2d38b59da936f%2Fisaac-lab-sim.gif?alt=media">isaac-lab-sim.gif</a></td></tr><tr><td>Digital Twin</td><td><a href="/robotics-handbook/programming-for-robotics/digital-twin.md">Digital Twin</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2F096RW8JaRf56BKzbTz52%2FUR3OnshapeDigitalTwin.gif?alt=media&amp;token=cde1e05c-1d93-41c6-a53e-5213cb1759ea">UR3OnshapeDigitalTwin.gif</a></td></tr><tr><td>PCB Design (KiCad, EasyEDA)</td><td><a href="/robotics-handbook/computer-aided-design-and-simulations/pcb-design.md">PCB Design</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2Fgit-blob-1e275d63a84eed1283b1f8223e1e792753ef0620%2Fpcb-routing.gif?alt=media">pcb-routing.gif</a></td></tr></tbody></table>