German Larrain

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 ... [More] 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. [Less]