diff --git a/.gitignore b/.gitignore
index 894a44c..c7e5a28 100644
--- a/.gitignore
+++ b/.gitignore
@@ -102,3 +102,11 @@ venv.bak/
 
 # mypy
 .mypy_cache/
+
+# others
+*.pyc
+*.swp
+.ipynb_checkpoints/
+.idea/
+0_VRDemoSettings.txt
+tests/
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..16f18b8
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019, Brian Delhaisse (brian.delhaisse@iit.it)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/README.md b/README.md
index 09d48b2..6d57772 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,9 @@
-# pyrobolearn
\ No newline at end of file
+# PyRoboLearn
+
+This repository contains the code for the *PyRoboLearn* (PRL) framework: a Python framework for Robot Learning.
+This framework revolves mainly around 7 axes: simulators, worlds, robots, interfaces, learning tasks (= environment 
++ policy), learning models, and learning algorithms. 
+
+## Requirements
+
+The framework has been tested with Python 2.7 and Ubuntu 16.04.
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..dc8ba17
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,64 @@
+# To only install dependencies, type:
+# $ pip install -r requirements.txt
+
+numpy>=1.13.3
+numba>=0.42.0
+numpy-quaternion>=2019.1.13.15.7.3
+autograd>=1.2
+matplotlib>=2.0.2
+sympy>=1.3
+scipy>=0.19.1
+control>=0.8.1
+opencv-python>=4.0.0.21
+
+# multiprocessing
+pathos>=0.2.3
+
+# backend
+torch>=1.0.0
+torchvision>=0.2.1
+
+# simulators
+pybullet>=2.4.1
+gym>=0.10.9
+# git+git://github.com/benelot/pybullet-gym
+
+# interfaces
+inputs>=0.5
+gTTS>=2.0.3
+openni>=2.2.0.post6
+pyaudio>=0.2.8
+
+# models and algos
+sklearn>=0.0
+# gpytorch>=0.1.0rc4
+git+git://github.com/cornellius-gp/gpytorch/archive/alpha.zip
+GPy>=1.9.6
+GPyOpt>=1.2.5
+hmmlearn>=0.2.1
+keras>=2.2.4
+neat-python>=0.92
+tensorflow>=1.3.0
+# tensorflow-gpu
+cma>=2.6.0
+# ray>=0.6.3 [rllib]
+# git+git://github.com/ikostrikov/pytorch-a2c-ppo-acktr
+
+# robots
+urdf-parser-py>=0.0.3
+
+# optim
+cvxopt>=1.2.3
+cvxpy>=1.0.15
+quadprog>=0.1.6
+qpsolvers>=1.0.4
+nlopt>=2.4.2.post2
+# ipopt
+
+# control
+slycot>=0.3.3
+
+# worlds/utils
+# gdal>=1.11.3
+
+# need to install rbdl, ipopt, tf
\ No newline at end of file
diff --git a/scripts/install_all.sh b/scripts/install_all.sh
new file mode 100755
index 0000000..9acd060
--- /dev/null
+++ b/scripts/install_all.sh
@@ -0,0 +1,63 @@
+#!/bin/sh
+# Install everything: for each package, ask the user if he/she wishes to install it
+
+# check if user is root (i.e. running with sudo)
+if [ `whoami` != root ]; then
+    echo "Please run this script with sudo"
+    exit
+fi
+
+# check the first argument which must be the source directory
+if [ -z $1 ]
+then
+    echo "Specify the absolute location (or relative to home) where to install the various packages."
+    exit
+fi
+
+
+## Install packages
+
+# install ros-kinetic
+read -p 'Do you wish to install the `ros-kinetic` package on this computer [yes/no]?: ' reply
+if [ $reply = 'yes' ]; then
+    echo "Installing ros-kinetic..."
+    $PWD/install_ros_kinetic.sh
+else
+    echo "Not installing ros-kinetic"
+fi
+
+# install rbdl
+read -p 'Do you wish to install the `rbdl` package on this computer [yes/no]?: ' reply
+if [ $reply = 'yes' ]; then
+    echo "Installing rbdl..."
+    $PWD/install_rbdl.sh
+else
+    echo "Not installing rbdl"
+fi
+
+# install ipopt
+read -p 'Do you wish to install the `ipopt` package on this computer [yes/no]?: ' reply
+if [ $reply = 'yes' ]; then
+    echo "Installing ipopt..."
+    $PWD/install_ipopt.sh
+else
+    echo "Not installing ipopt"
+fi
+
+# install openni2 & nite2
+read -p 'Do you wish to install the `openni2`, `libfreenect`, and `nite2` packages on this computer [yes/no]?: ' reply
+if [ $reply = 'yes' ]; then
+    echo "Installing openni2, libfreenect, and nite2..."
+    $PWD/install_openni2_nite2.sh $1
+else
+    echo "Not installing openni2, libfreenect, and nite2"
+fi
+
+# install openpose
+read -p 'Do you wish to install the `openpose` package on this computer [yes/no]?: ' reply
+if [ $reply = 'yes' ]; then
+    echo "Installing openpose..."
+    $PWD/install_openpose.sh $1
+else
+    echo "Not installing openpose"
+fi
\ No newline at end of file
diff --git a/scripts/install_audio.sh b/scripts/install_audio.sh
new file mode 100755
index 0000000..2acb46b
--- /dev/null
+++ b/scripts/install_audio.sh
@@ -0,0 +1,7 @@
+#!/bin/sh
+# Install audio packages for Ubuntu which is needed for pyaudio.
+
+sudo apt-get install libasound-dev portaudio19-dev libportaudio2 libportaudiocpp0
+sudo apt-get install ffmpeg libav-tools
+
+pip install pyaudio
\ No newline at end of file
diff --git a/scripts/install_gdal.sh b/scripts/install_gdal.sh
new file mode 100755
index 0000000..c63748b
--- /dev/null
+++ b/scripts/install_gdal.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+# This bash script install the gdal library and the official python wrapper
+
+sudo apt-get install libgdal-dev
+export CPLUS_INCLUDE_PATH=/usr/include/gdal
+export C_INCLUDE_PATH=/usr/include/gdal
+#sudo pip install gdal
+sudo apt-get install python-gdal
\ No newline at end of file
diff --git a/scripts/install_ipopt.sh b/scripts/install_ipopt.sh
new file mode 100755
index 0000000..ba604ea
--- /dev/null
+++ b/scripts/install_ipopt.sh
@@ -0,0 +1,88 @@
+#!/bin/sh
+# File taken from CarND-MPC-Project from Udacity but modified to install python wrapper as well
+# Source: https://github.com/udacity/CarND-MPC-Project
+#
+# To use this script:
+# $ sudo ./install_openni2_nite2.sh <path/to/install/packages>
+#
+# You might need to source your .bashrc file at the end.
+#
+# IPopt installation on MacOSX:
+# brew install ipopt --with-openblas
+
+# Define few variables
+currentdir=$PWD
+
+# Pass the Ipopt source directory as the first argument
+if [ -z $1 ]
+then
+    echo "Specifiy the location of the Ipopt source directory in the first argument."
+    exit
+fi
+cd $1
+
+# specify ipopt version
+version=3.12.12
+
+# install gfortran
+sudo apt-get install gfortran
+
+# download ipopt
+wget https://www.coin-or.org/download/source/Ipopt/Ipopt-${version}.zip
+unzip Ipopt-${version}.zip
+rm Ipopt-${version}.zip
+
+cd Ipopt-${version}
+
+prefix=/usr/local
+srcdir=$PWD
+
+echo "Building Ipopt from ${srcdir}"
+echo "Saving headers and libraries to ${prefix}"
+
+# BLAS
+cd $srcdir/ThirdParty/Blas
+./get.Blas
+mkdir -p build && cd build
+../configure --prefix=$prefix --disable-shared --with-pic
+make
+sudo make install
+
+# Lapack
+cd $srcdir/ThirdParty/Lapack
+./get.Lapack
+mkdir -p build && cd build
+../configure --prefix=$prefix --disable-shared --with-pic \
+    --with-blas="$prefix/lib/libcoinblas.a -lgfortran"
+make
+sudo make install
+
+# ASL
+cd $srcdir/ThirdParty/ASL
+./get.ASL
+
+# MUMPS
+cd $srcdir/ThirdParty/Mumps
+./get.Mumps
+
+# build everything
+cd $srcdir
+./configure --prefix=$prefix coin_skip_warn_cxxflags=yes \
+    --with-blas="$prefix/lib/libcoinblas.a -lgfortran" \
+    --with-lapack=$prefix/lib/libcoinlapack.a
+make
+make test
+sudo make -j1 install
+
+# write variables to export in the ~/.bashrc file, and source it
+cd
+echo "" >> .bashrc
+echo "# Export environment variables for IPopt" >> .bashrc
+echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/lib/" >> .bashrc
+# source .bashrc
+
+# install python package
+pip install ipopt
+
+# return to the original directory
+cd $currentdir
diff --git a/scripts/install_openni2_nite2.sh b/scripts/install_openni2_nite2.sh
new file mode 100755
index 0000000..23e7848
--- /dev/null
+++ b/scripts/install_openni2_nite2.sh
@@ -0,0 +1,134 @@
+#!/bin/sh
+# This bash script install the OpenNI2 and Nite2 packages (tested on Ubuntu 16.04)
+#
+# To use this script: 
+# $ sudo ./install_openni2_nite2.sh <path/to/install/packages>
+#
+# You might need to source your .bashrc file at the end.
+#
+# Github repo: 
+# - https://github.com/OpenNI/OpenNI
+# - https://github.com/occipital/OpenNI2
+# - https://github.com/OpenKinect/libfreenect
+#
+# References: 
+# - https://roboticslab-uc3m.gitbook.io/installation-guides/install-openni-nite
+# - https://stackoverflow.com/questions/32415089/install-openni2-and-nite2-on-linux
+# - https://codeyarns.com/2015/08/04/how-to-install-and-use-openni2/
+#
+# To test kinect (with libfreenect):
+# $ freenect-glview
+# To test asus/kinect (with openni, check in the Bin and Tools folders):
+# $ NiViewer
+# $ UserViewer
+
+# Define few variables
+currentdir=$PWD
+
+# Check if user is root/running with sudo
+if [ `whoami` != root ]; then
+    echo "Please run this script with sudo"
+    exit
+fi
+
+# check the first argument which must be the source directory
+if [ -z $1 ]
+then
+    echo "Specify the absolute location (or relative to home) where to install the OpenNI2, libfreenect, and NiTE2 packages."
+    exit
+fi
+
+# move to that directory
+cd; cd $1
+
+# install requirement packages
+echo "Installing prerequired packages..."
+sudo apt-get install git g++ cmake libxi-dev libxmu-dev libusb-1.0-0-dev pkg-config freeglut3-dev build-essential libudev-dev openjdk-8-jdk usbutils
+
+# driver for Asus Xtion Pro Live OpenNI driver (Ubuntu)
+sudo apt-get install libopenni-sensor-primesense0
+
+# install OpenNI2
+echo "Installing OpenNI2..."
+cd; cd $1
+git clone https://github.com/occipital/OpenNI2.git  # We used to have a fork off 6857677beee08e264fc5aeecb1adf647a7d616ab with working copy of Xtion Pro Live OpenNI2 driver.
+cd OpenNI2
+make -j`nproc`
+sudo ln -s $PWD/Bin/x64-Release/libOpenNI2.so /usr/local/lib/  # $PWD should be /yourPathTo/OpenNI2
+sudo ln -s $PWD/Bin/x64-Release/OpenNI2/ /usr/local/lib/  # $PWD should be /yourPathTo/OpenNI2
+sudo ln -s $PWD/Include /usr/local/include/OpenNI2  # $PWD should be /yourPathTo/OpenNI2
+sudo ldconfig
+#sudo $PWD/Packaging/Linux/install.sh
+sudo cp $PWD/Packaging/Linux/primesense-usb.rules /etc/udev/rules.d/557-primesense-usb.rules  # install udev rules for usb devices
+# Install prebuilt SDK from online (instead of git)
+#wget https://s3.amazonaws.com/com.occipital.openni/OpenNI-Linux-x64-2.2.0.33.tar.bz2
+#tar -xjvf OpenNI-Linux-x64-2.2.0.33.tar.bz2 && rm OpenNI-Linux-x64-2.2.0.33.tar.bz2
+#cd OpenNI-Linux-x64-2.2
+#sudo ./install.sh  # this installs 'primesense-usb.rules' in /etc/udev/rules.d/, and defines environment variables 'OPENNI2_*'
+#cd; cd $1
+#cp libfreenect/build/lib/OpenNI2-FreenectDriver/libFreenectDriver.so OpenNI-Linux-x64-2.2/Redist/OpenNI2/Drivers/
+#cp libfreenect/build/lib/OpenNI2-FreenectDriver/libFreenectDriver.so OpenNI-Linux-x64-2.2/Tools/OpenNI2/Drivers/
+#cd OpenNI-Linux-x64-2.2/Tools
+#./NiViewer
+
+# Test the installation
+#cd Bin/x64-Release/
+#./NiViewer
+
+# install libfreenect because it contains a driver to be used with OpenNI2
+echo "Installing libfreenect..."
+cd; cd $1
+git clone https://github.com/OpenKinect/libfreenect
+cd libfreenect && mkdir -p build
+cd build
+cmake .. -DBUILD_OPENNI2_DRIVER=ON
+make -j`nproc`
+sudo make install
+sudo ldconfig
+sudo ln -s /usr/local/lib/OpenNI2-FreenectDriver/libFreenectDriver.so /usr/local/lib/OpenNI2/Drivers
+cd ..
+sudo cp platform/linux/udev/51-kinect.rules /etc/udev/rules.d/  # don't need to run the app as root
+cd wrappers/python/
+sudo python setup.py install
+
+# Test the installation
+#freenect-glview
+
+# Set rules to avoid needing sudo when trying to read data from the sensors connected via USB port
+sudo sh -c "echo 'KERNEL == \"ttyUSB0\", MODE = \"0777\"' > 80-persistent-local-usb.rules"
+
+# install NiTE2
+echo "Installing NiTE2..."
+cd; cd $1
+wget https://sourceforge.net/projects/roboticslab/files/External/nite/NiTE-Linux-x64-2.2.tar.bz2
+tar xvf NiTE-Linux-x64-2.2.tar.bz2 && rm NiTE-Linux-x64-2.2.tar.bz2
+cd NiTE-Linux-x64-2.2/
+sudo ./install.sh    # defines environment variables 'NITE2_*'
+sudo ln -s $PWD/Redist/libNiTE2.so /usr/local/lib/
+sudo ln -s $PWD/Include /usr/local/include/NiTE-Linux-x64-2.2
+cd ..
+sudo ldconfig
+# Test the installation
+#cd NiTE-Linux-x64-2.2/Samples/Bin
+#./UserViewer
+
+# write variables to export in the ~/.bashrc file, and source it
+cd
+OUT_FILE=".bashrc"
+echo "" >> $OUT_FILE
+echo "# Export OPENNI and NITE environment variables" >> $OUT_FILE
+echo "export OPENNI2_INCLUDE=$1/OpenNI2/Include" >> $OUT_FILE
+if [ `uname -m` = "x86_64" ];
+then
+    #echo "export OPENNI2_REDIST64=$1/OpenNI-Linux-x64-2.2/Redist" >> $OUT_FILE
+    echo "export OPENNI2_REDIST64=$1/OpenNI2/Bin/x64-Release" >> $OUT_FILE
+    echo "export NITE2_REDIST64=$1/NiTE-Linux-x64-2.2/Redist" >> $OUT_FILE 
+else
+    #echo "export OPENNI2_REDIST=$1/OpenNI-Linux-x64-2.2/Redist" >> $OUT_FILE
+    echo "export OPENNI2_REDIST=$1/OpenNI2/Bin/x64-Release" >> $OUT_FILE
+    echo "export NITE2_REDIST=$1/NiTE-Linux-x64-2.2/Redist" >> $OUT_FILE
+fi
+# source .bashrc
+
+# return to the original directory
+cd $currentdir
diff --git a/scripts/install_openpose.sh b/scripts/install_openpose.sh
new file mode 100755
index 0000000..25f6e96
--- /dev/null
+++ b/scripts/install_openpose.sh
@@ -0,0 +1,94 @@
+#!/bin/sh
+# This bash script install the openpose and the official python wrapper
+# 
+# Github repo: https://github.com/CMU-Perceptual-Computing-Lab/openpose
+# Reference: https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/installation.md
+# FAQ (troubleshooting): https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/faq.md
+
+
+# Define few variables
+currentdir=$PWD
+
+# Check if user is root/running with sudo
+if [ `whoami` != root ]; then
+    echo "Please run this script with sudo"
+    exit
+fi
+
+# check the first argument which must be the source directory
+if [ -z $1 ]
+then
+    echo "Specify the absolute location (or relative to home) where to install the Openpose package."
+    exit
+fi
+
+# move to that directory
+cd; cd $1
+
+# clone repository
+git clone https://github.com/CMU-Perceptual-Computing-Lab/openpose
+cd openpose
+git pull origin master
+
+# Prerequisites
+sudo apt-get install cmake-qt-gui
+sudo apt install cmake-curses-gui
+read -p 'Do you wish to install the CUDA8 on this computer [yes/no]?: ' reply
+if [ $reply = 'yes' ]; then
+    echo "Installing CUDA8..."
+    sudo ./scripts/ubuntu/install_cuda.sh
+else
+    echo "Not installing CUDA8"
+fi
+read -p 'Do you wish to install the cuDNN5.1 on this computer [yes/no]?: ' reply
+if [ $reply = 'yes' ]; then
+    echo "Installing cuDNN5.1..."
+    sudo ./scripts/ubuntu/install_cudnn.sh
+else
+    echo "Not installing cuDNN5.1"
+fi
+sudo ./scripts/ubuntu/install_deps.sh
+sudo apt-get install libopencv-dev
+sudo apt-get install nvidia-modprobe
+
+mkdir build && cd build
+echo "Check https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/installation.md#openpose-configuration for more information on how to configure the openpose package"
+#cmake-gui
+# to build with python 2.7
+#export PYTHON_EXECUTABLE=/usr/bin/python2.7
+#export PYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython2.7.so
+cmake -DBUILD_PYTHON=ON -DPYBIND11_PYTHON_VERSION=2.7 ..
+make -j`nproc`
+sudo make install
+sudo cp python/openpose/pyopenpose.so /usr/local/lib/python2.7/dist-packages/
+cd ..
+OPENPOSE_PATH_DIR=$PWD
+
+# go to home directory and export environment variables in the bashrc
+cd
+echo "\n\n# Export OPENPOSE environment variables" >> ".bashrc"
+echo "export OPENPOSE_PATH=$OPENPOSE_PATH_DIR" >> ".bashrc"
+
+# Test installation (check github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/quick_start.md)
+#cd OPENPOSE_PATH_DIR
+#./build/examples/openpose/openpose.bin
+# Python examples are in github.com/CMU-Perceptual-Computing-Lab/openpose/tree/master/examples/tutorial_api_python
+
+# return to original directory
+cd currentdir
+
+
+# Troubleshootings
+# - If you obtain the following error "nvcc fatal : Unsupported gpu architecture 'compute_<xx>'", just modify the
+#   cmake/Cuda.cmake file, from the line "set(Caffe_known_gpu_archs "...")", remove the architectures that your
+#   computer does not possess. You can also specify the architecture in the cmake line with the option "CUDA_ARCH".
+# - If you obtain an error with the python version, you have to specify the version you want to use to pybind11, by
+#   setting the option "-DPYBIND11_PYTHON_VERSION=2.7"
+# - If you have the following error "Cuda check failed (30 vs. 0): unknown error" when launching a basic example
+#   in openpose as given in "https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/quick_start.md",
+#   then the error comes from your Nvidia GPU driver or your CUDA toolkit. Check the solutions given in the following
+#   link: https://github.com/NVIDIA/DIGITS/issues/1663
+#   Before tempting any solutions, try to reboot your computer (this solution worked for me). Otherwise, this will
+#   probably require you to reinstall the Nvidia drivers / CUDA toolkit.
+# - If you have an error with Qt such as: qt.qpa.plugin: Could not find the Qt platform plugin "xcb" in "", reinstall
+#   the package, or install qtcreator.
diff --git a/scripts/install_rbdl.sh b/scripts/install_rbdl.sh
new file mode 100755
index 0000000..914df19
--- /dev/null
+++ b/scripts/install_rbdl.sh
@@ -0,0 +1,74 @@
+#!/bin/sh
+# This bash script install the rbdl library and the official python wrapper
+# 
+# repo + documentation: https://rbdl.bitbucket.io/
+# paper: https://pdfs.semanticscholar.org/f129/5068f646ea9379da72ba5183276ca73a038d.pdf
+
+# Define few variables
+currentdir=$PWD
+
+# Check if user is root/running with sudo
+if [ `whoami` != root ]; then
+    echo "Please run this script with sudo"
+    exit
+fi
+
+# check the first argument which must be the source directory
+if [ -z $1 ]
+then
+    echo "Specify the absolute location (or relative to home) where to install the Openpose package."
+    exit
+fi
+
+# move to that directory
+cd; cd $1
+
+# Install requirements
+# update & upgrade #
+sudo apt-get update
+sudo apt-get upgrade
+
+#install cython
+sudo apt-get -y install cython
+# build-tools
+sudo apt-get -y install build-essential
+sudo apt-get -y install cmake
+# eigen 
+sudo apt-get -y install libeigen3-dev 
+
+# download and install rbdl
+sudo rm -r rbdl
+wget https://bitbucket.org/rbdl/rbdl/get/default.zip
+unzip default.zip
+rm default.zip
+mv rbdl-rbdl-* rbdl
+cd rbdl
+mkdir build && cd build/
+cmake -D CMAKE_BUILD_TYPE=Release -D RBDL_BUILD_ADDON_URDFREADER=ON -D RBDL_BUILD_PYTHON_WRAPPER=ON ../ 
+# make error fix: cd addons/urdfreader
+# open urdfreader.cc
+# remove the line: #include "ros/ros.h"
+make -j`nproc`
+sudo make install
+
+## to use python wrapper, you need to install Cython and NumPy
+cd python
+sudo cp rbdl.so /usr/local/lib/python2.7/dist-packages 
+sudo cp rbdl.so /usr/local/lib/python2.7/site-packages
+
+# return to original directory
+cd currentdir
+
+
+## to wrap GetBodyId() function
+# 
+# Inside crbdl.pxd, add:
+# unsigned int GetBodyId(const char *body_name)
+# inside cdef cppclass Model:
+# 
+# Inside rbdl-wrapper.pyx, add:
+# def GetBodyId (self, char* body_name):
+#      return self.thisptr.GetBodyId(body_name)
+# inside cdef class Model:
+# 
+# then do cmake, make, install again
diff --git a/scripts/install_ros_kinetic.sh b/scripts/install_ros_kinetic.sh
new file mode 100755
index 0000000..448fc27
--- /dev/null
+++ b/scripts/install_ros_kinetic.sh
@@ -0,0 +1,49 @@
+#!/bin/bash
+# update & upgrade #
+sudo apt-get update
+sudo apt-get upgrade
+
+# install ros indigo #
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
+sudo apt-get update
+sudo apt-get -y install ros-kinetic-desktop-full
+sudo rosdep init
+rosdep update
+echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+sudo apt-get -y install python-rosinstall
+
+# install catkin #
+sudo apt-get -y install ros-kinetic-catkin
+
+
+# create ros workspace #
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/src
+catkin_init_workspace
+cd ~/catkin_ws/
+catkin_make
+echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+# update gazebo to latest version #
+#sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu trusty #main" > /etc/apt/sources.list.d/gazebo-latest.list'
+#wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+#sudo apt-get update
+#sudo apt-get upgrade
+
+# install gazebo ros pkgs #
+sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+sudo apt-get -y install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
+
+# install ros control #
+sudo apt-get -y install ros-kinetic-ros-control ros-kinetic-ros-controllers
+
+# additional setting #
+#echo "export LC_NUMERIC=C" >> ~/.bashrc
+#echo "killall -q roscore" >> ~/.bashrc
+#echo "killall -q rosmaster" >> ~/.bashrc
+#echo "killall -q gazebo" >> ~/.bashrc
+#echo "killall -q gzserver" >> ~/.bashrc
+#echo "killall -q gzclient" >> ~/.bashrc
\ No newline at end of file
diff --git a/scripts/install_sloccount.sh b/scripts/install_sloccount.sh
new file mode 100755
index 0000000..99f6b5f
--- /dev/null
+++ b/scripts/install_sloccount.sh
@@ -0,0 +1,18 @@
+#!/bin/sh
+# This bash installs the 'sloccount' command which counts source lines of code, and provides several statisticsabout this last one.
+# Once installed, go to the pyrobolearn package and type:
+# $ sloccount *.py */*.py
+
+# define variables
+origindir=$PWD
+scriptdir=`dirname $0`
+
+# install package
+sudo apt install sloccount -y
+
+# compute statistics for pyrobolearn software
+cd $scriptdir; cd ..
+sloccount *.py */*.py
+
+# return to the original directory
+cd $origindir
diff --git a/scripts/install_trac_ik.sh b/scripts/install_trac_ik.sh
new file mode 100755
index 0000000..cb840c7
--- /dev/null
+++ b/scripts/install_trac_ik.sh
@@ -0,0 +1,48 @@
+#!/bin/sh
+# This bash script install the trac_ik library and the official python wrapper
+#
+# wiki: http://wiki.ros.org/trac_ik
+# repo: https://bitbucket.org/traclabs/trac_ik
+
+# install from Debian package
+#sudo apt-get install ros-kinetic-trac-ik
+
+# Define few variables
+currentdir=$PWD
+
+# Check if user is root/running with sudo
+if [ `whoami` != root ]; then
+    echo "Please run this script with sudo"
+    exit
+fi
+
+# check the first argument which must be the source directory
+if [ -z $1 ]
+then
+    echo "Specify the absolute location (or relative to home) where to install the Openpose package."
+    exit
+fi
+
+# move to that directory
+cd; cd $1
+
+# install requirements
+sudo apt-get install libccd-dev libccd2 libfcl-0.5-dev libfcl0.5
+sudo apt-get install libnlopt-dev libnlopt0  # nlopt
+sudo apt-get -y install libeigen3-dev  # eigen
+sudo pip install nlopt
+
+# install trac_ik library from sources
+git clone https://bitbucket.org/traclabs/trac_ik.git
+cd trac_ik/trac_ik_lib/
+mkdir build && cd build
+cmake -DPYTHON_VERSION=2.7 ..
+make -j2
+source devel/setup.bash
+
+# install python
+cd ../../trac_ik_python/
+mkdir build && cd build
+cmake -DPYTHON_VERSION=2.7 ..
+make -j2
+sudo make install
diff --git a/setup.py b/setup.py
new file mode 100755
index 0000000..63610d5
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,38 @@
+# Once in the pyrobolearn folder, type one of the following command: 
+# $ pip install -e .
+# $ pip install --user -e .
+# $ python setup.py install
+# $ python setup.py install --home=<dir>
+
+from setuptools import setup, find_packages
+from pip.req import parse_requirements
+
+# get description from readme file
+with open('README.md', 'r') as f:
+    long_description = f.read()
+
+# get the required packages
+install_requires = parse_requirements('requirements.txt', session=False)
+reqs = [str(ir.req) for ir in install_requires]
+
+# setup
+setup(
+    name='pyrobolearn',
+    version='0.1.0',
+    description='A Python framework for roboticists and machine learning practitioners',
+    long_description = long_description,
+    author='Brian Delhaisse',
+    author_email='briandelhaisse@gmail.com',
+    maintainer='Brian Delhaisse',
+    maintainer_email='Brian Delhaisse',
+    license='(c) Brian Delhaisse',
+    url='https://github.com/robotlearn/pyrobolearn',
+    platforms=['Linux Ubuntu'],
+    python_requires='2.7'
+    # packages=['', 'worlds', 'robots', 'tools', 'pso', 'envs', 'algos', 'optim', 'tasks', 'tools.vr', 'tools.vr.htc', 'tools.vr.oculus',
+    #           'tools.bci', 'tools.audio', 'tools.camera', 'tools.game_controllers', 'utils', 'utils.data_structures',
+    #           'models', 'robots', 'robots.ros', 'robots.ros.coman', 'robots.ros.walkman', 'filters',
+    #           'metrics', 'rl', 'mechanics', 'objectives', 'experiments', 'exploration'],
+    packages=find_packages(),  #find_packages(exclude=('tests',))
+    install_requires=reqs
+)