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The robotic will probably be set in his root link (i.e. the pelvis), so you are not required to control the full free floating dynamics. Be aware on the other hand the functions make reference to a totally free floating dynamics, so You must shell out certain care to the variables dimensions.
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This interactive application system specifically used for matrix computations like solving linear equations, computing eigenvalues and eigenvectors, factoring matrices, and even more.
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