trep is a software library for simulating and analyzing mechanical systems. Systems are modeled in generalized coordinates as heirarchy of coordinate frames. Dynamics are simulated using a variational integrator with excellent long-term energy, momentum, and constraint behavior. trep does not need to derive symbolic equations to calculate dynamics or derivatives and, accordingly, it scales well to handle large systems.

• Learn more about trep and it's capabilities.
• You can get trep from our download page.
• The documenation includes installation instructions and tutorials to help you get started.
• If you have questions about trep or are having trouble getting things to work, head over to our forums.

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