{
    "info": {
        "author": "S\u00c3\u00a9bastien BARTH\u00c3\u0089LEMY",
        "author_email": "barthelemy@crans.org",
        "bugtrack_url": null,
        "classifiers": [
            "Development Status :: 4 - Beta",
            "Environment :: Console",
            "Intended Audience :: Science/Research",
            "License :: OSI Approved :: GNU Library or Lesser General Public License (LGPL)",
            "Operating System :: OS Independent",
            "Programming Language :: Python",
            "Topic :: Scientific/Engineering :: Physics"
        ],
        "description": "Arboris is a rigid body dynamics and contacts simulator written in python.\n\nArboris includes a generic and easily extensible set of joints \n(singularity-free multi-dof joints, non-honolomic joints, etc.) which are\nused to model open rigid mechanisms with a minimal set of state variables. \n\nThe dynamics of these systems are computed in a form similar to the \nBoltzmann-Hamel equations.\n\nUsing time-stepping and a semi-implicit Euler integration scheme, a first-order\napproximation of the model is also computed. This allows for additional \nconstraints such as contacts and kinematic loops to be solved using a \nGauss-Seidel algorithm.\n\nArboris is mostly useful for robotic applications and human motion studies. \nThe python language makes it particularly suited for fast-paced development\n(prototyping) and education.\n\n\nBackground\n==========\n\nIn 2005, Alain Micaelli, a researcher from CEA LIST, wrote a first version of\nthe simulator in the matlab language. It was an implementation (and often an\nextension) of the algorithms described in [Park2005]_, [Murray1994]_ and\n[Liu2003]_.\nHe was later joined by S\u00e9bastien Barth\u00e9lemy, from ISIR/UPMC, who reorganized\nthe code to take advantage of the early object-oriented features of matlab.\nIt eventually became clear that the language was ill-designed, and that a full\nrewrite was necessary. With the help of Joseph Salini, also from ISIR/UPMC,\nArboris-python was born. The resulting framework is now quite similar to what\nis presented in [Duindam2006]_.\n\nThe matlab version of the simulator is now deprecated.\n\n.. [Murray1994]\n    Richard M. Murray, Zexiang Li and S. Shankar Sastry,\n    \"A  Mathematical Introduction to Robotic Manipulation\",\n    CRC Press, 1994.\n\n.. [Park2005]\n    Jonghoon Park,\n    \"Principle of Dynamical Balance for Multibody Systems\",\n    Multibody System Dynamics, vol. 14, number 3-4, pp. 269-299, 2005.\n\n.. [Liu2003]\n    T. Liu and M. Y. Wang, \n    \"Computation of three dimensional rigid body dynamics of\n    multiple contacts using time-stepping and Gauss-Seidel\n    method\",\n    IEEE Transaction on Automation Science and Engineering, \n    submitted, November 2003.\n\n.. [Duindam2006] \n    V. Duindam, \n    \"Port-Based Modelling and Control for  Efficent Bipedal Walking Robots\",\n    University of Twente, 2006.",
        "description_content_type": null,
        "docs_url": null,
        "download_url": "UNKNOWN",
        "downloads": {
            "last_day": -1,
            "last_month": -1,
            "last_week": -1
        },
        "home_page": "http://chronos.isir.upmc.fr/~barthelemy/arboris",
        "keywords": null,
        "license": "LGPL",
        "maintainer": null,
        "maintainer_email": null,
        "name": "arboris",
        "package_url": "https://pypi.org/project/arboris/",
        "platform": "UNKNOWN",
        "project_url": "https://pypi.org/project/arboris/",
        "project_urls": {
            "Download": "UNKNOWN",
            "Homepage": "http://chronos.isir.upmc.fr/~barthelemy/arboris"
        },
        "release_url": "https://pypi.org/project/arboris/0.1.0pre7/",
        "requires_dist": null,
        "requires_python": null,
        "summary": "A rigid body dynamics and contacts simulator written in python.",
        "version": "0.1.0pre7"
    },
    "last_serial": 160653,
    "releases": {
        "0.1.0pre7": []
    },
    "urls": []
}