For example if we use function TraceForce we can see all equations that will be used to solve Forward Dynamics. Of course we use spatial algebra notation. In this way we can check manipulator definitions. Symbolical results with are generated are most memory consumes. These equations without optimizations have a lot of pages, over one hundred.
Results are very good.
Now equations have only three pages. Without optimizations time cost was about fifty minutes. Now after this and other optimizations time consumption is about 3 comma 5 minutes. In our package we map all equations and next we calculate a numerical result. But calculations for more than four degrees are most difficult.