EDLUT is a spiking neural simulator mostly oriented towards the efficient simulation of medium-scale neural networks connected to a body (embodiment). This body can be a virtual or real robot (this last option requires real-time (RT) simulations). Embodiment helps to better understand how certain capabilities of the nervous system (e.g. the role of the cerebellum in coordinated movements and object manipulation) emerge based on cellular characteristics, network topology, or particular synaptic adaptation mechanisms…