Inverse Kinematics Software Application with Gravity and Friction

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The discussion focuses on finding an Inverse Kinematics software application that can handle a multi-component system involving rotation, linked elements, a rolling element with friction, a beam element, and the effects of gravity. The user seeks to verify manually calculated results derived from constants and experimental data within a 2D context. Participants are encouraged to share relevant software recommendations and insights related to the specific requirements of incorporating gravity and friction in the calculations.
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I have a multi component system, containing rotation of several linked elements, along with a linked rolling (w/friction) element, a beam element and GRAVITY. What I am trying to do is verify results for varriables calculated manually from constants and experimental data... does anyone know of an Inverse Kinematics Software Application with Gravity and Friction considerations? The system could be considered 2D.
 
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