RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

Muscle Functioning Modeling: After a deep study of the most relevant models, it has been chosen to develop two prototypes. The first one, called Evaluation model, was developed to understand better the phenomena of muscle force production in Isometric conditions; This prototype is designed to emulate muscle response in a simplified way, neglecti…