SAI was designed as a graphics and dynamics engine to simulate multi degrees of freedom robots. The environment also offers functionalities to connect active interfaces such as force feedback devices for real time interactions with the simulated bodies. The environment contains a Graphics Engine based on Open GL and a Dynamics Engine developed by Arachi for rigid body simulation. The libraries have been used so fare for robot simulation where multi bodies can interact with each other. Complex controllers are currently under development and will be integrated into SAI to pilot multi degrees of freedoms mechanisms
			This image presents an overview of the user interface with robots displayed in main viewport. 3D objects use a triangle-polygon representation and can be loaded from VRML or WaveFront files. Dynamic properties such as mass, inertia, joint position or joint limits are all included in a separate XML description file containing complete information of the objects.
			Last update: 11 - 2001 by F.Conti