Arboris A rigid body dynamics and contacts simulator
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body simulator dynamics body dynamics contacts simulator

Arboris 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. Requirements: · Python

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