GitHub - wbyates777/Articulated-Rigid-Body: 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.

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wbyates777 · 2026-06-11 · via Show HN

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