Abstract: Accurate rigid-body dynamics is crucial for serial industrial robot applications, such as force control and physical human–robot interaction. Despite decades of research, the precise ...

A simulation engine is a powerful tool that provides realistic approximations of physical systems. With maple-sim, we integrate the open-source Java rigid-body dynamics engine, dyn4j, capable of ...

FCL was forked in 2015, creating a new project called HPP-FCL. Since then, a large part of the code has been rewritten or removed (unused and untested code), and new features have been introduced (see ...