QuadraSim is a simulator, originally used by the Robotics and Intelligent Systems (ROBIN) group and the Cornell Creative Machines Laboratory to simulate gaits for a research project by Suchan Lee, Jason Yosinski, and Jeff Clune. The first version of the simulator was written by Kyrre Glette of the University of Oslo.

First download the Nvidia PhysX engine for Linux. This website instructs how to install PhysX in linux (PhysX is primarily supported on Windows): http://about.something.pl/art/howto-setup-physx-sdk-in-linux.html

You must also install and link the necessary boost libraries, Nvidia Cg Toolkit, dynamixel libraries, jpeg-8d libraries, and (maybe) galib247 library.

Then in shell, use the command

make clean all

to compile the simulator

To use the simulator place the data/ directory which contains the robot information inside the simulator directory, then use the command

./name_of_simulator 

to open the simulator.

To input a gait, use the command

./name_of_simulator -i gait_file_name

To input a gait and specify the name of the output the results of that gaitfile, use the command

./name_of_simulator -i gait_file_name -o output_file_name

To record a video of the gaits (non-headless simulator), you can press TAB, which will generate photos of the gait, which you could put together as a video using ffmpeg or virtualdubmod.

Use the standalone file.