RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
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License LGPL 3 Build Status AppVeyor status

RBDyn provide a set of class and function to model the dynamics of rigid body systems.

This implementation is based on Roy Featherstone Rigid Body Dynamics Algorithms book and other state of the art publications.



  • Kinematics tree Kinematics and Dynamics algorithm C++11 implementation
  • Use Eigen3 and SpaceVecAlg library
  • Free, Spherical, Planar, Cylindrical, Revolute, Prismatic joint support
  • Translation, Rotation, Vector, CoM, Momentum Jacobian computation
  • Inverse Dynamics, Forward Dynamics
  • Inverse Dynamic Identification Model (IDIM)
  • Kinematics tree body merging/filtering
  • Kinematics tree base selection
  • Python binding

To make sure that RBDyn works as intended, unit tests are available for each algorithm. Besides, the library has been used extensively to control humanoid robots such as HOAP-3, HRP-2, HRP-4 and Atlas.

A short tutorial is available here.

The SpaceVecAlg and RBDyn tutorial is also a big ressource to understand how to use RBDyn by providing a lot of IPython Notebook that will present real use case.

A doxygen documentation is available online.


Ubuntu 14.04 and 16.04 binary ppa install

Use the multi-contact-unstable ppa:

sudo add-apt-repository ppa:pierre-gergondet+ppa/multi-contact-unstable
sudo apt-get update
sudo apt-get install librbdyn-dev librbdyn-doc

Homebrew OS X install

Install from the command line using Homebrew:

# install homebrew package manager
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# install caskroom application manager
brew install caskroom/cask/brew-cask
# tap homebrew-science package repository
brew tap homebrew/science
# tap ahundt-robotics repository
brew tap ahundt/robotics
# install tasks and all its dependencies
brew install rbdyn

Manually build from source


To compile you need the following tools:

For Python bindings:


git clone --recursive https://github.com/jrl-umi3218/RBDyn
cd RBDyn
mkdir _build
cd _build
cmake [options] ..
make && make intall

Where the main options are:

  • -DCMAKE_BUIlD_TYPE=Release Build in Release mode
  • -DCMAKE_INSTALL_PREFIX=some/path/to/install default is /usr/local
  • -DPYTHON_BINDING=ON Build the python binding
  • -DUNIT_TESTS=ON Build unit tests.
  • -DPYTHON_DEB_LAYOUT=OFF install python library in site-packages (ON will install in dist-packages)

Arch Linux

You can use the following AUR package.

Pulling git subtree

To update sync cmake or .travis directory with their upstream git repository:

git fetch git://github.com/jrl-umi3218/jrl-cmakemodules.git master
git subtree pull --prefix cmake git://github.com/jrl-umi3218/jrl-cmakemodules.git master --squash

git fetch git://github.com/jrl-umi3218/jrl-travis.git master
git subtree pull --prefix .travis git://github.com/jrl-umi3218/jrl-travis.git master --squash