In the past few years, there has been a resurgence in studies of space-based optical/infrared interferometry, particularly with the vision to use the technique to discover and characterize temperate Earth-like exoplanets around solar analogs. One of the key technological leaps needed to make such a mission feasible is demonstrating that formation flying precision at the level needed for interferometry is possible. Here, we present Pyxis, a ground-based demonstrator for a future small satellite mission with the aim to demonstrate the precision metrology needed for space-based interferometry. We describe the science potential of such a ground-based instrument and detail the various subsystems: three six-axis robots, a multi-stage metrology system, an integrated optics beam combiner, and the control systems required for the necessary precision and stability. We conclude by looking toward the next stage of Pyxis: a collection of small satellites in Earth orbit.