Simulation frameworks for a robot (and more generally a multibody system) must have some and probably many requirements. This simulation framework requires a way of getting from [[urdf]] to [[symbolic equations of motion]]. For this, I found two resources: 1. SPART: https://spart.readthedocs.io 2. urdf2eom: https://github.com/DeepakParamkusam/urdf2eom 3. DoJo: https://github.com/dojo-sim/Dojo.jl 4. Mujoco: https://github.com/deepmind/mujoco 5. Mujoco-MPC: https://github.com/deepmind/mujoco_mpc 6. Drake: https://github.com/RobotLocomotion/drake # Reference [[5 Contact Dynamics in Autonomous Robotic Systems]] # Next Notes [[5d1 Tassa's talk on MPC in Mujoco]] [[5d1a Robotics at MIT]]