diff --git a/scripts/install_chrono.sh b/scripts/install_chrono.sh
new file mode 100644
index 0000000..211a7ad
--- /dev/null
+++ b/scripts/install_chrono.sh
@@ -0,0 +1,50 @@
+#!/bin/bash
+# Install the Chrono simulator and its Python wrapper (pychrono)
+# References:
+# - install chrono:
+#   - https://github.com/projectchrono/chrono
+#   - http://api.projectchrono.org/development/tutorial_install_chrono.html
+# - install pychrono:
+#   - http://api.projectchrono.org/development/module_python_installation.html
+
+# Define few variables
+ORIGIN_DIR=$PWD
+
+# install chrono
+
+# Pass as the first argument the location where to install chrono and pychrono
+if [[ -z $1 ]]; then
+    echo "Specify the location where to install the chrono and pychrono source directories as the first argument."
+    exit
+fi
+CHRONO_PATH=$1
+cd $CHRONO_PATH
+
+# install dependencies
+sudo apt-get install libeigen3-dev cmake git
+sudo apt install build-essential x11-common libxxf86vm-dev libglu1-mesa-dev freeglut3 xorg-dev
+sudo apt install libirrlicht1.8 libirrlicht-dev libirrlicht-doc
+
+# install SWIG
+git clone https://github.com/swig/swig.git
+cd swig
+sudo apt-get install automake
+./autogen.sh
+./configure
+sudo apt-get install bison flex
+make -j4
+sudo make install
+
+# install chrono and pychrono
+cd $CHRONO_PATH
+git clone https://github.com/projectchrono/chrono
+cd chrono
+mkdir build
+cd build
+cmake .. -DENABLE_MODULE_IRRLICHT=True -DENABLE_MODULE_PYTHON=True -DSWIG_EXECUTABLE=/usr/local/bin/swig
+make -j4
+sudo make install
+# the pychrono Python library is in chrono/build/bin
+
+# return to the original directory
+cd $ORIGIN_DIR
diff --git a/scripts/install_dart.sh b/scripts/install_dart.sh
new file mode 100644
index 0000000..7cfd38e
--- /dev/null
+++ b/scripts/install_dart.sh
@@ -0,0 +1,47 @@
+#!/bin/bash
+# Install the Dart simulator and its Python wrapper (dartpy)
+# References
+# - Install DART on Ubuntu: https://dartsim.github.io/install_dart_on_ubuntu.html
+# - Install dartpy on Ubuntu: https://dartsim.github.io/install_dartpy_on_ubuntu.html
+
+# Define few variables
+ORIGIN_DIR=$PWD
+
+# install dart
+
+# Pass as the first argument the location where to install DART
+if [[ -z $1 ]]; then
+    echo "Specify the location where to install the DART source directory as the first argument."
+    exit
+fi
+cd $1
+
+sudo apt-get remove libdart*
+
+# install dependencies
+sudo apt-get install build-essential cmake pkg-config git
+sudo apt-get install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
+sudo apt-get install libnlopt-dev
+sudo apt-get install coinor-libipopt-dev
+sudo apt-get install libbullet-dev
+sudo apt-get install libode-dev
+sudo apt-get install liboctomap-dev
+sudo apt-get install libflann-dev
+sudo apt-get install libtinyxml2-dev liburdfdom-dev
+sudo apt-get install libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
+sudo apt-get install python3-pip
+
+# build and install DART and dartpy
+git clone git://github.com/dartsim/dart.git
+cd dart
+git checkout tags/v6.9.0
+mkdir build
+cd build
+cmake .. -DDART_BUILD_DARTPY=ON -DCMAKE_INSTALL_PREFIX=/usr/ -DCMAKE_BUILD_TYPE=Release
+make -j4
+make -j4 dartpy
+
+sudo make install
+
+# return to the original directory
+cd $ORIGIN_DIR
diff --git a/scripts/install_ipopt.sh b/scripts/install_ipopt.sh
index ba604ea..a928820 100755
--- a/scripts/install_ipopt.sh
+++ b/scripts/install_ipopt.sh
@@ -16,7 +16,7 @@ currentdir=$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."
+    echo "Specify the location of the Ipopt source directory in the first argument."
     exit
 fi
 cd $1
diff --git a/scripts/install_mujoco.sh b/scripts/install_mujoco.sh
new file mode 100644
index 0000000..0287d21
--- /dev/null
+++ b/scripts/install_mujoco.sh
@@ -0,0 +1,63 @@
+#!/bin/bash
+# Install the MuJoCo simulator and the Python wrapper (mujoco_py) provided by OpenAI
+# You have to provide the directory where to install the Mujoco and mujoco_py packages and which contains the mjkey.txt
+# References:
+# - install mujoco: https://www.roboti.us/index.html
+# - install mujoco_py: https://github.com/openai/mujoco-py
+
+# Define few variables
+ORIGIN_DIR=$PWD
+
+# install mujoco
+
+# Pass as the first argument the location where to install MuJoCo and mujoco_py
+if [[ -z $1 ]]; then
+    echo "Specify the location where to install the MuJoCo and mujoco_py source directories as the first argument."
+    exit
+fi
+MUJOCO_PATH=$1
+cd $MUJOCO_PATH
+
+# check OS
+if [[ "$OSTYPE" == "linux-gnu" ]]; then  # LINUX
+    PACKAGE="mujoco200_linux"
+elif [[ "$OSTYPE" == "darwin"* ]]; then  # Mac OSX
+    PACKAGE="mujoco200_macos"
+elif [[ "$OSTYPE" == "msys" ]]; then  # Windows
+    PACKAGE="mujoco200_win64"
+else
+    echo "This OS is not supported. Expecting a Linux, Mac OSX, or Windows system."
+    exit
+fi
+
+# download package and unzip it
+wget "https://www.roboti.us/download/${PACKAGE}.zip"
+unzip "${PACKAGE}.zip"
+
+# install mujoco_py
+sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
+
+export MUJOCO_PY_MJKEY_PATH="${MUJOCO_PATH}/mjkey.txt"
+export MUJOCO_PY_MJPRO_PATH="${MUJOCO_PATH}/${PACKAGE}"
+export MUJOCO_PY_MUJOCO_PATH="${MUJOCO_PATH}/${PACKAGE}"
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MUJOCO_PATH}/${PACKAGE}/bin
+export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so  # :/usr/lib/x86_64-linux-gnu/libGL.so  # for visualization
+
+# write variables to export in the ~/.bashrc file, and source it
+cd
+echo "" >> .bashrc
+echo "# MuJoCo" >> .bashrc
+echo "export MUJOCO_PY_MJKEY_PATH=${MUJOCO_PATH}/mjkey.txt" >> .bashrc
+echo "export MUJOCO_PY_MJPRO_PATH=${MUJOCO_PATH}/${PACKAGE}" >> .bashrc
+echo "export MUJOCO_PY_MUJOCO_PATH=${MUJOCO_PATH}/${PACKAGE}" >> .bashrc
+echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MUJOCO_PATH}/${PACKAGE}/bin" >> .bashrc
+echo "export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so" >> .bashrc
+# source .bashrc
+
+git clone https://github.com/openai/mujoco-py
+cd mujoco-py
+pip install -e .
+# sudo python setup.py install
+
+# return to the original directory
+cd $ORIGIN_DIR
diff --git a/scripts/install_raisim.sh b/scripts/install_raisim.sh
new file mode 100644
index 0000000..8e003f7
--- /dev/null
+++ b/scripts/install_raisim.sh
@@ -0,0 +1,123 @@
+#!/bin/bash
+# Install the raisim simulator (raisimLib and raisimOgre) and its Python wrapper (raisimpy)
+# ./install_raisim [<workspace_path> <local_build_path> <python_version> [<path/to/python/bin>]]
+# References:
+# - install raisimLib: https://github.com/leggedrobotics/raisimLib
+# - install raisimOgre: https://github.com/leggedrobotics/raisimOgre
+# - install raisimpy: https://github.com/robotlearn/raisimpy
+
+# Define few variables
+ORIGIN_DIR=$PWD
+
+# define workspace, local build, and python version
+
+# Pass as the first argument the workspace location
+if [[ -z $1 ]]; then
+    echo "Specify the WORKSPACE location where to clone/install the various RaiSim repositories."
+    exit
+fi
+
+# Pass as the second argument the local build location
+if [[ -z $2 ]]; then
+    echo "Specify the local build location where to install the exported cmake libraries."
+    exit
+fi
+
+# Pass as the third argument the python version
+if [[ -z $3 ]]; then
+    echo "Specify the python version."
+    exit
+fi
+
+WORKSPACE=$1
+LOCAL_BUILD=$2
+PYTHON_VERSION=$3
+
+#####################
+# install raisimLib #
+#####################
+
+# install raisimLib dependencies
+sudo apt-get install libeigen-dev
+
+# install raisimLib
+cd $WORKSPACE/raisimLib
+mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD && make install
+
+######################
+# install raisimOgre #
+######################
+
+# install cmake > 3.10
+export cmake_version=3.14
+export cmake_build=5
+mkdir ~/temp
+cd ~/temp
+wget https://cmake.org/files/v$cmake_version/cmake-$cmake_version.$cmake_build.tar.gz
+tar -xzvf cmake-$cmake_version.$cmake_build.tar.gz
+cd cmake-$cmake_version.$cmake_build/
+./bootstrap
+make -j4
+sudo make install
+
+# install g++
+sudo apt-get install -y software-properties-common
+sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+sudo apt update
+sudo apt install g++-8 gcc-8 -y
+
+# install raisimOgre dependencies
+sudo apt-get install libgles2-mesa-dev libxt-dev libxaw7-dev libsdl2-dev libzzip-dev libfreeimage-dev libfreetype6-dev libpugixml-dev
+
+# build Ogre from source
+cd $WORKSPACE
+git clone https://github.com/leggedrobotics/ogre.git
+cd ogre
+git checkout raisimOgre
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD -DOGRE_BUILD_COMPONENT_BITES=ON -OGRE_BUILD_COMPONENT_JAVA=OFF -DOGRE_BUILD_DEPENDENCIES=OFF -DOGRE_BUILD_SAMPLES=False
+make install -j8
+
+# install raisimOgre
+cd $WORKSPACE
+cd raisimOgre && mkdir build && cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH=$LOCAL_BUILD -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD -DRAISIM_OGRE_EXAMPLES=True
+make install -j8
+
+
+####################
+# Install raisimpy #
+####################
+
+# install pybind11
+cd $WORKSPACE
+git clone https://github.com/pybind/pybind11
+mkdir build
+cd build
+if [[ -z $4 ]]; then  # Check if path to python binary is provided
+    cmake ..
+else
+    cmake -DPYTHON_EXECUTABLE=$4 ..
+fi
+make check -j 4
+
+# install raisimpy
+cd $WORKSPACE
+git clone https://github.com/robotlearn/raisimpy
+cd raisimpy
+mkdir build && cd build
+cmake -DPYBIND11_PYTHON_VERSION=$PYTHON_VERSION -DCMAKE_PREFIX_PATH=$LOCAL_BUILD -DCMAKE_INSTALL_PREFIX=$LOCAL_BUILD ..
+make -j4
+make install
+export PYTHONPATH=$PYTHONPATH:$LOCAL_BUILD/lib
+
+# write variables to export in the ~/.bashrc file, and source it
+cd
+echo "" >> .bashrc
+echo "# RaiSim" >> .bashrc
+echo "export PYTHONPATH=\$PYTHONPATH:${LOCAL_BUILD}/lib" >> .bashrc
+# source .bashrc
+
+# return to the original directory
+cd $ORIGIN_DIR
diff --git a/scripts/install_sloccount.sh b/scripts/install_sloccount.sh
index 99f6b5f..0f1339a 100755
--- a/scripts/install_sloccount.sh
+++ b/scripts/install_sloccount.sh
@@ -1,18 +1,25 @@
 #!/bin/sh
-# This bash installs the 'sloccount' command which counts source lines of code, and provides several statisticsabout this last one.
+# This bash installs the 'sloccount' and 'cloc' commands which provide statistics such as the number of lines of code,
+# and others of a certain software.
 # Once installed, go to the pyrobolearn package and type:
-# $ sloccount *.py */*.py
+# $ sloccount .
+# or
+# $ cloc .
 
 # define variables
 origindir=$PWD
 scriptdir=`dirname $0`
 
-# install package
+# install packages
 sudo apt install sloccount -y
+sudo apt install cloc -y
 
 # compute statistics for pyrobolearn software
 cd $scriptdir; cd ..
-sloccount *.py */*.py
+echo "\n\nUsing Sloccount:"
+sloccount .
+echo "\n\nUsing clock:"
+cloc .
 
 # return to the original directory
 cd $origindir
diff --git a/scripts/install_vrep.sh b/scripts/install_vrep.sh
new file mode 100644
index 0000000..abd2e07
--- /dev/null
+++ b/scripts/install_vrep.sh
@@ -0,0 +1,79 @@
+#!/bin/bash
+# Install the VREP simulator and the Python wrapper (PyRep)
+# If you use a virtual environment for Python, activate this last one before launching this script
+# References:
+# - install VREP: http://www.coppeliarobotics.com/downloads.html
+# - install PyRep: https://github.com/stepjam/PyRep
+
+# Define few variables
+ORIGIN_DIR=$PWD
+
+# install VREP
+
+# Pass as the first argument the location where to install VREP and PyRep
+if [[ -z $1 ]]; then
+    echo "Specify the location where to install the VREP and PyRep source directories as the first argument."
+    exit
+fi
+cd $1
+
+# check OS
+if [[ "$OSTYPE" == "linux-gnu" ]]; then
+    # LINUX
+    OS=`cat /etc/os-release | grep NAME= | head -1 | cut -c 7- | sed 's/.$//'`  # e.g. Ubuntu
+    VERSION=`cat /etc/os-release | grep VERSION= | head -1 | cut -c 10- | cut -c -5`  # e.g. 16.04
+
+    # Check Ubuntu version
+    if [[ $VERSION == "16.04" ]]; then
+        PACKAGE="V-REP_PRO_EDU_V3_6_2_Ubuntu16_04"
+    elif [[ $VERSION == "18.04" ]]; then
+        PACKAGE="V-REP_PRO_EDU_V3_6_2_Ubuntu18_04"
+    else
+        echo "This Linux distribution ${OS} ${VERSION} is not supported; Ubuntu 16.04 or 18.04 is required."
+        exit
+    fi
+
+    # download package and unpack it
+    wget "http://www.coppeliarobotics.com/files/${PACKAGE}.tar.xz"
+    tar -xvf "${PACKAGE}.tar.xz"
+elif [[ "$OSTYPE" == "darwin"* ]]; then
+    # Mac OSX
+    PACKAGE="V-REP_PRO_EDU_V3_6_2_Mac"
+    # download package and unpack it
+    wget "http://www.coppeliarobotics.com/files/${PACKAGE}.zip"
+    unzip "${PACKAGE}.zip"
+#elif [[ "$OSTYPE" == "msys" ]]; then
+#    # Windows
+#    PACKAGE="V-REP_PRO_EDU_V3_6_2_Setup"
+#    wget "http://www.coppeliarobotics.com/files/$PACKAGE.exe"
+else
+    echo "This OS is not supported. Expecting an Ubuntu or Mac OSX system."
+    exit
+fi
+
+# export variables
+export VREP_ROOT="${PWD}/${PACKAGE}"
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$VREP_ROOT
+export QT_QPA_PLATFORM_PLUGIN_PATH=$VREP_ROOT
+
+# write variables to export in the ~/.bashrc file, and source it
+cd
+echo "" >> .bashrc
+echo "# VREP" >> .bashrc
+echo "export VREP_ROOT=${PWD}/${PACKAGE}" >> .bashrc
+echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:\$VREP_ROOT" >> .bashrc
+echo "export QT_QPA_PLATFORM_PLUGIN_PATH=\$VREP_ROOT" >> .bashrc
+# source .bashrc
+
+# install PyRep
+cd $1
+git clone https://github.com/stepjam/PyRep.git
+cd PyRep
+
+# install requirements and setup (if you don't have a virtual environment with Py3, you might need to replace
+# pip by pip3, and python by python3.
+pip install -r requirements.txt
+python setup.py install --user
+
+# return to the original directory
+cd $ORIGIN_DIR