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...There are bugs, functionality is missing, and performance hasn't been optimized. Expect to have to make changes to this package if you want to use it. PRs are very welcome. These requirements are fairly strict, and are due to our limited development resources (manpower, hardware). Technically, they can be relaxed. If you are interested in contributing to this, see this issue for more details. In practice, Metal.jl will probably work on any macOS 10.15+, and other GPUs that are supported by Metal might also function (if only partially), but such combinations are unsupported for now.

RigidBodyDynamics.jl is a rigid body dynamics library in pure Julia. It aims to be user friendly and performant, but also generic in the sense that the algorithms can be called with inputs of any (suitable) scalar types. This means that if fast numeric dynamics evaluations are required, a user can supply Float64 or Float32 inputs. However, if symbolic quantities are desired for analysis purposes, they can be obtained by calling the algorithms with e.g. SymPy.Sym inputs. If gradients are...