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Physically-accurate robotics simulator

Project description

ARS: Autonomous Robot Simulator

.. image::

ARS is a physically-accurate robotics simulator written in Python.
It's main purpose is to help researchers to develop mobile
manipulators and, in general, any multi-body system. It
is open-source, modular, easy to learn and use,
and can be a valuable tool in the process
of robot design, in the development of control and reasoning algorithms, as
well as in teaching and educational activities.

It will encompass a wide range of tools spanning from kinematics and dynamics
simulation to robot interfacing and control.

ARS uses
`Open Dynamics Engine (ODE) <>`_
as physics engine, and
`Visualization Toolkit (VTK) <>`_
as graphics engine.
While both are well regarded and popular open-source software,
ARS was designed to minimize coupling with them
(through included abstraction layers)
to let developers experiment with other alternatives.


Because ARS is ``pip``-compatible,
it's very easy to install, upgrade and uninstall it:

.. code-block:: bash

$ pip install ARS
$ pip install --upgrade ARS
$ pip uninstall ARS

While that's the recommended way to go, you may still follow
the old-fashion procedure: download the file, unpack and run

.. code-block:: bash

$ python install


ARS needs:

* Python 2.6 or 2.7
* ODE (Open Dynamics Engine) 0.12 with Python bindings
* VTK (Visualization Toolkit) 5.8 with Python bindings
* NumPy 1.6

ODE and VTK can be somewhat complicated to install, depending on your OS.

For detailed installation instructions (ARS and requirements)
and troubleshooting, see the
`online documentation <>`_.


The documentation is hosted at
` <>`_
and it is generated dynamically after each commit to the repository.


This software is licensed under the OSI-approved "BSD License". To avoid
confusion with the original BSD license from 1990, the FSF refers to it as
"Modified BSD License". Other names include "New BSD", "revised BSD", "BSD-3",
or "3-clause BSD".

See the included LICENSE.txt file.


To run the included test suite you need more packages (``tox`` and ``mock``):

.. code-block:: bash

~/ars$ pip install -r requirements_test.txt
~/ars$ tox

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