Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: A Whole-Body Software Abstraction layer for Control Design of
  free-floating Mechanical Systems
33
The categories of this paper are: plasm-ph
36
The categories of this paper are: cmp-lg
9
The categories of this paper are: nlin
29
The categories of this paper are: funct-an
10
The categories of this paper are: q-bio
20
The categories of this paper are: acc-phys
37
The categories of this paper are: supr-con
30
The categories of this paper are: q-alg
4
The categories of this paper are: cond-mat
3
The categories of this paper are: physics
17
The categories of this paper are: q-fin
15
The categories of this paper are: nucl-ex
27
The categories of this paper are: comp-gas
13
The categories of this paper are: quant-ph
14
The categories of this paper are: math-ph
0
The categories of this paper are: hep-ph