#Rigid-body-dynamics

stack-of-tasks

pinocchio

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

roboticslibrary

rl

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.

JuliaRobotics

RigidBodySim.jl

Simulation and visualization of articulated rigid body systems in Julia