AnyKode Marilou
anyKode Marilou is a modeling and simulation environment for mobile robots, humanoids, articulated arms and parallel robots operating in real-world conditions that respect the laws of physics. This robotics suite is used in research centers and industry for various projects like humanoid architectures, wheeled and multi legged vehicles, and multi-robot systems (Multi-agents). It also has a real-time engine that uses the ODE (Open Dynamics Engine) for collisions detecting and dynamics management. Various 'real world' variables like forces, torques, masses, damping, friction and others can be adjusted directly to the objects surfaces. Scenes modeling. The  entities editor can design robots collision model by using any of the static or dynamic objects in the given simulated world. CAD-style editing tools are entirely graphical. Scenes, dynamics and robots properties can be changed from a view/document/properties IHM style. Also the editor takes in charge re-usable physicals entities as well as pure 3D models. Marilou uses a hierarchical system to present entire objects at the highest level (the current world). This approach makes it possible to reuse members of a complex object as sub-parts of another object. Devices. Marilou includes a complete set of  user-modifiable virtual devices. The behavior of these devices may be overridden by the properties of real devices available in robotics. This feature allows the programmer to use a known device's parameters directly. This is a list of supported devices types: Robots programming. MODA (Marilou Open Devices Access) is the Marilou generic SDK for handling simulated robots and their embedded devices, such as sensors and actuators. Depending on chosen language, MODA provides libraries (.lib / .a) or .Net assembly (.dll) for accessing simulation over the network. Synchronized to a simulated clock, algorithms can run on any computer in the network . Individual robots may run several programs. In addition, one MODA program can control several robots, whether or not they be in the same world. MODA TCP server can be embedded in real robot.