Introduction
------------

.. container:: c-code

   .. highlight:: c

This tutorial introduces some modules of Robotran:

-  `Representation of 3D forces <./3DRepresentation.html>`__
-  `Insert Submodel <./insertSubmodel.html>`__
-  `Link 3D <./Link3D.html>`__
-  `Advanced user constraints <./userConstraints_advanced.html>`__
-  `User model structures <./Structure.html>`__
-  `Look-up-Tables <./LookUpTables.html>`__

.. container:: c-code

   The programming language in this tutorial is
   `C <../../c-code/SpecificFeatures/intro.html>`__. The same tutorial
   also exists for `Python <../../python/SpecificFeatures/intro.html>`__
   language.

| 

Requirements
~~~~~~~~~~~~

You should already be comfortable with the basics features of Robotran
explained in the `Modelling
features <../ModellingFeatures/intro.html>`__.