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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 (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to

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Shell 0.01% C++ 86.08% Python 1.72% C 0.45% Lua 0.76% MATLAB 0.05% CMake 4.55% Cython 6.38%

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