High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

😎 A curated list of robotics libraries and software

High-performance C++ library for multiphysics and multibody dynamics simulations

PyDy tutorial materials for MASB 2014, PYCON 2014, and SciPy 2014/2015.

Multibody Dynamics Library designed for Free Floating Robots

RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

😎 A curated list of resources for multibody dynamics simulation papers

A multi-body simulation software

Calculates the dynamic equations of motion of a N DOF robot arm using the Lagrangian formulation.

Open library of musculoskeletal models and examples ready to be used with the AnyBody Modelling System.

An open-source framework for the modeling, simulation and visualization of constrained multi-body systems.

MultiBody Dynamics Estimators (MBDE): MATLAB toolkit

Future version of the AnyBody Managed Model Repository with a full thoracic spine model.

A hydrodynamics extension for Project Chrono, enabling simulations of wave energy converters, floating offshore wind turbines, and more.

Granular Rigid Body Simulation Framework: efficient research tools to simulate non-smooth granular rigid body dynamics.

Projected Overrelaxed Jacobi (JORProx) and Gauss-Seidel (SORProx) GPU implementations.

Natural Coordinates with python for biomechanics

A multi-body systems database for formula-style vehicles implemented in the uraeus framework.

A python package for symbolic creation and analysis of constrained multi-body systems.

biorbd + casadi + variational integrator