Try the Robot Code Generator
Issue #236
new
Code gen for dynamics. Optimized code for specific robots. https://bitbucket.org/mfrigerio17/roboticscodegenerator/wiki/Home
Might be interesting to add hooks into this.
Comments (2)
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reporter -
reporter - Has compiled binaries for download on the site (code dev / bugs don't seem to be open)
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Also have an associated paper describing the system : http://joser.unibg.it/index.php?journal=joser&page=article&op=download&path%5B%5D=98&path%5B%5D=35