Orocos project to supply RealTime usable kinematics and dynamics code, it contains code for rigid body kinematics calculations and representations for kinematic structures and their inverse and forward kinematic solvers.
The C++ library is located in the orocos_kdl folder. The installation instructions can be found in
INSTALL.md.
The python bindings, are located in the python_orocos_kdl folder. The installation instructions can be found in
INSTALL.md.