Moby is a GNU GPL 2.0 licensed, multi-body dynamics simulation library written in C++.

Its primary purpose is to serve as the most robust and accurate tool for dynamic robotic simulation.

Features

• Multiple collision models: Newton, Mirtich, Anitescu-Potra, multilinear interpolation-based, and convex optimization-based models implemented
• Multiple joint constraints supported:
• revolute
• prismatic
• universal
• spherical
• fixed
• Simulations serializable using XML file format
• Multiple integrator types::
• Euler
• 4th-order Runge-Kutta
• 4th-order Runge-Kutta implicit
• 4th-order Runge-Kutta-Fehlberg (variable step)
• Articulated bodies supported using both reduced-coordinate and maximal-coordinate representations

Additionally, Moby makes the following provisions:

• Forward kinematics and manipulator Jacobian computation provided
• Inverse dynamics for robots with both fixed and floating bases is provided
• Graphics can be output to OpenInventor, VRML, or an arbitrary engine; the graphical representation of the simulator can be output to VRML at any time to facilitate debugging.

What's new

• Maximal coordinate articulated bodies added (7/09)
• Numerically robust LCP solving method of Nakamura and Yamane added (6/09)
• Structural enhancements of Lloyd added to to Anitescu-Potra contact model (6/09)
• Anitescu-Potra contact model added (12/08)
• Continuous collision detection method added (11/08)

We can use help from researchers in the graphics and robotics communities in developing and testing Moby. Please contact us via the account below:

edrumwri (at) users (dot) sourceforge (dot) net