daVinci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems,

S. Berard, J. C. Trinkle, B. Nguyen, B. Roghani, V. Kumar, and J. Fink, “daVinci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems,” in IEEE International Conference on Robotics and Automation, 2007, p. 2588–2593.