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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
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They use MeshCat: https://github.com/rdeits/meshcat
Personally I went with Java + OpenGL. Then I used an Entity-Component system to make pieces of robots and did the FK/IK for several robot arms. I'm currently trying to add a physics engine for rigid body dynamics, forces, and later move into walking behaviors. You can check it out here https://github.com/marginallyclever/robot-overlord-app or chat with me if you're building your own from scratch. Like most people here I'd wonder "why?" unless you really want to learn what's under the hood.
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