dynamics

An experimental implementation of Rigid Body Dynamics algorithms.

API

The API is designed to be close to the Pinocchio library. This project is not a direct port of Pinocchio, but rather an experimental attempt to create a similar API in Rust with Python bindings. The goal is to provide a high-level interface for rigid body dynamics, while also allowing for low-level access to the underlying algorithms. Examples of the Python API can be found in the examples/python directory.

Please note that this project is still in its early stages and is not recommended for production use. The API may change significantly in the future as the project evolves.

Python dependencies

Along with classical dependencies like numpy, this project uses:

• collider for collision detection
• meshcat for visualization Support for other visualization libraries might be added in the future.