Pinocchio

Pinocchio is a C++ library with Python bindings for efficient computation of Rigid Body Dynamics (RBD) algorithms and their analytical derivatives. Primarily used in robotics, biomechanics, and computer graphics, it provides state-of-the-art algorithmic solutions for poly-articulated systems, including closed-loop mechanisms and frictional contact problems. It is actively developed by Inria and is currently at version 3.9.0.