<s>
anyKode	B-Application
Marilou	I-Application
is	O
a	O
modeling	O
and	O
simulation	O
environment	O
for	O
mobile	O
robots	B-Algorithm
,	O
humanoids	O
,	O
articulated	O
arms	O
and	O
parallel	O
robots	B-Algorithm
operating	O
in	O
real-world	O
conditions	O
that	O
respect	O
the	O
laws	O
of	O
physics	O
.	O
</s>
<s>
This	O
robotics	B-Application
suite	I-Application
is	O
used	O
in	O
research	O
centers	O
and	O
industry	O
for	O
various	O
projects	O
like	O
humanoid	O
architectures	O
,	O
wheeled	O
and	O
multi	O
legged	O
vehicles	O
,	O
and	O
multi-robot	O
systems	O
(	O
Multi-agents	O
)	O
.	O
</s>
<s>
It	O
also	O
has	O
a	O
real-time	O
engine	O
that	O
uses	O
the	O
ODE	O
(	O
Open	B-Application
Dynamics	I-Application
Engine	I-Application
)	O
for	O
collisions	O
detecting	O
and	O
dynamics	O
management	O
.	O
</s>
<s>
The	O
entities	O
 '	O
editor	O
can	O
design	O
the	O
robot	B-Algorithm
's	O
collision	O
model	O
by	O
using	O
any	O
of	O
the	O
static	O
or	O
dynamic	O
objects	O
in	O
the	O
given	O
simulated	O
world	O
.	O
</s>
<s>
CAD-style	O
editing	O
tools	O
are	O
entirely	O
graphical	O
.	O
</s>
<s>
Scenes	O
,	O
dynamics	O
,	O
and	O
robots	B-Algorithm
properties	O
can	O
be	O
changed	O
from	O
a	O
view/document/properties	O
IHM	O
style	O
.	O
</s>
<s>
MODA	O
(	O
Marilou	O
Open	O
Devices	O
Access	O
)	O
is	O
the	O
Marilou	O
generic	O
SDK	O
for	O
handling	O
simulated	B-Application
robots	I-Application
and	O
their	O
embedded	O
devices	O
,	O
such	O
as	O
sensors	O
and	O
actuators	O
.	O
</s>
<s>
Individual	O
robots	B-Algorithm
may	O
run	O
several	O
programs	O
.	O
</s>
<s>
In	O
addition	O
,	O
one	O
MODA	O
program	O
can	O
control	O
numerous	O
robots	B-Algorithm
,	O
whether	O
they	O
be	O
in	O
the	O
same	O
world	O
.	O
</s>
<s>
MODA	O
TCP	O
server	O
can	O
be	O
embedded	O
in	O
real	O
robot	B-Algorithm
.	O
</s>
