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ARS: Python robotics simulator

Downloads Version License Wheel version available

ARS is a physically-accurate robotics simulator written in Python. Its 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.

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.

Installation

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

$ 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

$ python setup.py install

Requirements

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.

Documentation

The documentation is hosted at ReadTheDocs.org and it is generated dynamically after each commit to the repository.

License

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.

Tests

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

~/ars$ pip install -r requirements_test.txt
~/ars$ tox
Tip: Filter by directory path e.g. /media app.js to search for public/media/app.js.
Tip: Use camelCasing e.g. ProjME to search for ProjectModifiedEvent.java.
Tip: Filter by extension type e.g. /repo .js to search for all .js files in the /repo directory.
Tip: Separate your search with spaces e.g. /ssh pom.xml to search for src/ssh/pom.xml.
Tip: Use ↑ and ↓ arrow keys to navigate and return to view the file.
Tip: You can also navigate files with Ctrl+j (next) and Ctrl+k (previous) and view the file with Ctrl+o.
Tip: You can also navigate files with Alt+j (next) and Alt+k (previous) and view the file with Alt+o.