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wbyates777 / Articulated-Rigid-Body

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Compact implementation of spatial algebra, and Featherstone's articulated-body algorithm (ABA), composite rigid body algorithm (CRBA), and the recursive Newton-Euler algorithm (RNEA) with end-to-end automatic differentiability (AD). Depends on STL, GLM and autodiff libraries.

computer-graphics automatic-differentiation aba glm urdf gjk rigid-body-dynamics autodiff featherstone cpp23 kinematic-trees rbdl newton-euler rnea crba articulated-robots
  • Updated Jun 8, 2026
  • C++

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