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

.. container:: matlab

   .. highlight:: matlab

This tutorial introduces some modules of Robotran:

-  `Equilibrium module <./equilibrium.html>`__
-  `Modal module <./modal.html>`__
-  Additional features of `direct dynamics module <./dirdyn.html>`__
-  `Inverse dynamics module <./invdyn.html>`__

.. container:: matlab

   The programming language in this tutorial doesn’t exist in **Matlab**
   yet. However, this tutorial exists for
   `C <../../c-code/Modules/intro.html>`__ and
   `Python <../../python/Modules/intro.html>`__ languages.

| 

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

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