Lightweight, flexible, and designed for researchers and developers in robotics.
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Ark is a Python-first playground for robot learning. Instead of wrestling with C++ and fragmented tools, you can collect data, train policies, and switch between simulation and real robots with just a few lines of code. Think of it as the PyTorch + Gym for robotics — simple, modular, and built for rapid prototyping of intelligent robots.
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The framework depends on Ark Types and requires a Python environment managed with Conda. The steps below describe how to set up the repositories on Ubuntu and macOS.
# create a workspace and enter it
mkdir Ark
cd Ark
# create and activate the environment
conda create -n ark_env python=3.10
conda activate ark_env
# clone and install the framework
git clone https://github.com/Robotics-Ark/ark_framework.git
cd ark_framework
pip install -e .
cd ..
# clone and install ark_types
git clone https://github.com/Robotics-Ark/ark_types.git
cd ark_types
pip install -e .# create a workspace and enter it
mkdir Ark
cd Ark
# create and activate the environment
conda create -n ark_env python=3.11
conda activate ark_env
# clone and install the framework
git clone https://github.com/Robotics-Ark/ark_framework.git
cd ark_framework
pip install -e .
# pybullet must be installed via conda on macOS
conda install -c conda-forge pybullet
cd ..
# clone and install ark_types
git clone https://github.com/Robotics-Ark/ark_types.git
cd ark_types
pip install -e .After installation, verify the command-line tool is available:
ark --help