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Autonomous Robot Simulator (ARS).

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).

REQUIREMENTS
* Python 2.6.5
	http://www.python.org/download/releases/2.6.5/
* ODE (Open Dynamics Engine) rev 1858 (version 0.11.1 does not work. 0.12 is untested)
	http://sourceforge.net/projects/arsproject/files/ODE/
* PyODE rev 6ef2c2a (2010-03-22 snapshot)
	https://sourceforge.net/projects/pyode/files/pyode/snapshot-2010-03-22/
	http://sourceforge.net/projects/arsproject/files/PyODE/
* VTK (Visualization Toolkit) 5.2.1 (5.4.2 may work but is untested)
	http://www.vtk.org/VTK/resources/software.html
	https://sourceforge.net/projects/arsproject/files/VTK/

DOCUMENTATION
	To generate it, read the corresponding section in the INSTALL file