Arboris Publisher's description
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.
System Requirements:В· Python
Program Release Status:
Program Install Support: Install and Uninstall