poftwaresatent/minitao
Minimal TAO with joint-space dynamics wrappers. This was based on stanford-wbc-0.5 and used for headless simulation. One of the main goals was to clean out accumulated gruft from the original TAO dynamics engine, do proper coverage testing, and work on more streamlined and convenient data structures, and possibly better support spherical joints that use quaternions (where the number of positional parameters is 4 but for velocities it's 3). Hosted on gitorious.org until they got bought, copied here mainly for archival purposes.