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  • XML based simulation descriptions, that help ensure consistency, and simplifies the building up the simulation. (here comes an xml example code, and a picture of a hierarchical editor)
  • Hierarchical descriptions of robot bodies, based on chains of primitives.
  • Easy interfacing with simulation controllers (e.g., Matlab Simulink, EvoSun, Simba)
  • Easily extensible
  • Unlike some of it's cousins, Yars is FREE, and community driven
  • Actively Developed
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