Arboris iconArboris 0.1.0 Pre7-1

A rigid body dynamics and contacts simulator
Arboris is a rigid body dynamics and contacts simulator application written in Python.

Arboris includes a generic and easily extensible set of joints (singularity-free multi-dof joints, non-honolomic joints, etc.) which are used to model open rigid mechanisms with a minimal set of state variables.

The dynamics of these systems are computed in a form similar to the Boltzmann-Hamel equations.

Using time-stepping and a semi-implicit Euler integration scheme, a first-order approximation of the model is also computed. This allows for additional constraints such as contacts and kinematic loops to be solved using a Gauss-Seidel algorithm.

Arboris is mostly useful for robotic applications and human motion studies. The python language makes it particularly suited for fast-paced development (prototyping) and education.

last updated on:
March 19th, 2010, 3:43 GMT
developed by:
S√©bastien BARTH√ČLEMY
license type:
LGPL (GNU Lesser General Public License) 
ROOT \ Science


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