Isaac: Building Simulations for Virtual Environments
نویسنده
چکیده
This paper describes the architecture and initial implementation of the Isaac system. Our general research goal is to develop simulation support for virtual environments. Existing virtual environments are often graphically rich, but behaviorally impoverished. On the other hand, existing physical system simulation software is not well-suited for use within virtual environments. The Isaac system is a distributed simulation server that integrates multibody dynamics, geometry, and control and is designed to support the needs of virtual environments.
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