Introduction

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YARS is a robot simulator based on [ODE] that allows you to easily define a simulation via XML. YARS has been developed mainly with the purpose of artificial evolution of controllers and morphologies in mind. YARS is based on the concept that each robot consists of segment chains, themselves consisting of segments, which in turn consist of one or several geometries, sensors (e.g. IR, Angle and Camera sensors) and joints/motors. Segment Chains and segments may also be defined in closed rings. Control is possible via network (UDP) or via controllers compiled as shared libraries. For a detailed Feature List see Features.

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