For each programming languages, two templates are provided : a simple template and a complete template.
In the simple template, the project is loaded, the coordinate partitioning is done if needed and the direct dynamics of the system is computed.
In the complete template, both loading and coordinate partitioning steps are identical. Then, equilibrium and modal analyses are first computed before the direct dynamics. Finally, an inverse kinematics followed by an inverse dynamics are realized.
Some specific templates are also available for courses and research need.