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pyrosim: A python robot simulator.

Pyrosim enables the creation of robots with arbitrary body plans and neural controllers, and the optimization of them in arbitrary simulated environments. Read the Docs

Installation instructions.

Download or clone the GitHub repository.

If you downloaded the zipped version, unzip the directory somewhere you can access it.

Note: Pyrosim has been tested on Python 2.7 and 3.6 but should work with any 3.x version of Python. Pyrosim also currently only supports Linux and Mac OS. Windows support has been discontinued for the time being.

This is the new version of pyrosim. For those looking for the old version it can be found here.

For Mac and Linux users:

Open a terminal window, and navigate into that directory. For example:

$ cd ~/Desktop/pyrosim

If you are installing from Linux make sure you have build-essential and freeglut3 installed

$ sudo apt-get install build-essential libx11-dev xorg-dev libglu1-mesa-dev freeglut3-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev

If you are installing from Mac make sure you have xcode command line tools installed

$xcode-select --install

To build the underlying physics engine, ODE, run

$ sh

This takes three to five minutes and will print out a bunch of messages related to the build process.

This installs ODE and compiles the local C++ code on your machine in the pyrosim/simulator directory.

You can now use the package locally or install it using pip

$ pip install -e .

After installation you can test the package by changing to the Demos directory and running any one of the provided demos. For example to play the first demo run

$ python 

This should bring up an OpenGL window displaying an empty, virtual world. The window will close on its own after a few seconds.


If you already have pyrosim installed and want the latest update from the repository, change into the modules root directory (contains and pull

$ git pull

The C++ code is likely to have changed so you have to recompile it by going int the simulator directory and typing make

$ cd pyrosim/simulator
$ make

The simulator directory contains all of the C++ code used in pyrosim.

Next steps.

Now you can start making robots here, starting at step #3.