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-ARS is a physically-accurate open-source simulation suite for research and development of mobile manipulators and, in general, any multi-body system. It is modular, easy to learn and use, and can be a valuable tool in the process of robot design, in the development of control and reasoning algorithms, as well as in teaching and educational activities.
-It will encompass a wide range of tools spanning from kinematics and dynamics simulation to robot interfacing and control.
-The software is implemented in Python integrating the Open Dynamics Engine (ODE) and the Visualization Toolkit (VTK).