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

.. container:: python

   .. highlight:: python

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:: python

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

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

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