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This page describes the planning of Pyjama Editor and Myro3. The Pyjama Editor is an integrated, cross-platform environment for learning about computing, and Myro3 is an API for communicating with real and simulated robots. This is part of the Pyjama Project.

Myro3 uses Microsoft Robotics Developer Studio. This guide describes how to get started developing for Pyjama and get up and running with the in-progress version of Myro3. We are targeting the following software versions:

  • Microsoft Robotics Developer Studio 2008, CTP April
  • .NET 3.5
  • Mono 1.9.1 or greater
  • IronPython 2.0


The Pyjama interface is written in C#. This will allow any of the .NET/Mono Languages (IronPython, IronRuby, PyjamaScheme, JavaScript, F#, J#, etc) to use the API. Myro3 is the interface in .NET/Mono that allows these languages to connect to robots.

Initially, connections to robots (real and simulated) will be made through the Microsoft Robotics Developer Studio (MSRDS) API [2]. This is made through a set of services defined for each robot, sensor, actuator, etc.

In addition, an alternative interface could be defined that allows direct connections to a robot, or through another API, such as Player/Stage. This may require a layer above the services, or a different set of objects. This interface could allow for models to be created in C# (or another .NET language).


One can program either in Visual Studio (only available on Windows) or in Mono (available on most platforms). Mono has a development environment (called MonoDevelop), but you can also use any editor. There is a free Visual Studio Express available from Microsoft. Mono 1.9.1 comes with Fedora 9 and is also for free from Mono.

Install MSRDS

  1. First, download Microsoft Robotics Developer Studio 2008, CTP July, and all software it prompts you on [ Download here ].
  1. Install MRDS.
  2. Point all the project references to MSRDS libraries to the right places.
  3. Install the update and samples

Install IronPython

Download IronPython 2.0 from here.

Check out the code

The directories in the source tree pertaining to Myro3 are:

  • IPRE (Myro3 API and MRDS services)
  • Pyjama (New IDE for Myro3)


Our read-only source tree is located at: You can use TortoiseSVN or

$ svn co Myro


Our developer source tree is located at: Note the https. You can use TortoiseSVN or

$ svn co Myro


Download and install Mono version 1.9.1 or greater.

You can then create a program, like this:

using System;                        // for Console
public class HelloWorld {
   public static void Main(string[] args) {
      Console.WriteLine("Hello World!");

Call that program hello.cs, and compile with:

gmcs hello.cs

You can run it with:

mono hello.exe

Libraries for Pyjama

If you create a Dynamically Linked Library (.DLL) then you can load the library in Python (or any language) and use it as if it were written in Python.

For example under Mono:

gmcs -target:library hello.cs

will create hello.dll which can be used in Python.

If you need graphics, please use Windows Forms (aka, winforms) rather than GTK, or Windows Presentation Forms.

Build and run

For Visual Studio:

  1. Open the Visual Studio solution IPRE\Myro.sln.
  2. Set the working directory for "runnable" projects. These projects are in IPRE\Demos. In the "Debug" tab of the project properties, set the working directory to the full path to your IPRE/bin directory.
  3. Fix any missing references to MSRDS and IronPython assemblies.
  4. You should now be able to run the demo projects!


  • You may have to keep your source tree on a local drive, instead of a network drive, or you may get strange errors about not being able to find modules. I was getting dssproxy.exe exiting with code 20, and unable to load modules at runtime, and this may have fixed it. This may be because under Vista, network drives are not always trusted.


  1. Myro3 - Robotics Connection
  2. Myro3 Robot Services
  3. Pyro Robot Interfaces
    1. Pyro Source Code
  4. Mono Download
  5. Visual Studio Express