# ARS: Autonomous Robot Simulator

ARS is a physically-accurate open-source simulation suite for research and development of mobile manipulators and, in general, any multi-body system. It is 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.

The software is implemented in Python integrating the Open Dynamics Engine (ODE) and the Visualization Toolkit (VTK).

## Installation and Requirements

For installation instructions and requirements, see the online documentation.

ARS relies in these software:

• Python 2.7
• ODE (Open Dynamics Engine) 0.12 (from rev 1864 could work but is untested) with Python bindings
• VTK (Visualization Toolkit) 5.8 with Python bindings
• NumPy 1.6

Provided ODE and VTK are already installed, execute this to get ARS up and running:

~/ars\$ tox