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rbdl
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RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNE...
rbdl-orb
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RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints