YARS

YARS - Yet Another Robot Simulator

A selection of creatures in action can be found here.

Other videos can be found here.

Configuration

Simulations are described by JSON files (examples in xml/):

{
  "yars": {
    "version": "0.8.41",
    "simulator": { "frequency": 100, "solver_iterations": 10 },
    "environment": {
      "ground": { "fixed": true, "visualisation": { "texture_name": "YARS/DryGroundSmall" } }
    },
    "robots": { "robot": { "...": "body, sensors, actuators, controller" } }
  }
}

The format supports comments, $include composition, native JSON types, and ships with a JSON Schema for live validation in VS Code. Full format documentation: docs/JSON_Format.md.

./bin/yars --xml xml/braitenberg.json                 # run a simulation
python3 scripts/json-schema-check.py my.json          # validate a config
python3 scripts/json-canonicalize.py my.json          # normalize formatting

Building

• macOS: docs/macOS_Build.md
• Linux: docs/Linux_Build.md

Third party files

Fonts
http://www.fontspace.com

Images
CBT.jpg - http://www.flickr.com/photos/stallio/3149911976/sizes/o/in/photostream/
wall.jpg - http://agf81.deviantart.com/art/Brick-Seamless-160259435
clouds.jpg - http://www.ode.org
wheel.jpg - source no longer available
wood2.jpg - source no longer available
ground.jpg - source no longer available