Note: This project uses Semantic Versioning (http://semver.org/).
The Sai2-Common library implements a set of simplifying interfaces and helper modules to create robot control applications. This includes the following modules:
- parser module: to load a robot and world state specification from xml
- model module: creating articulated rigid body models to represent the robots,
- simulation module: creating a virtual world with simulated physics, and
- graphics module: rendering the world graphically
- Redis*: Redis server [brew, apt-get]
- Hiredis*: Redis minimalist client [brew, apt-get]
- JsonCpp*: JSON serialization [brew, apt-get]
- Eigen3*: Linear algebra [brew, apt-get]
- TinyXML2*: XML parser [brew, apt-get]
- GLFW3*: Window management [brew, apt-get]
- Chai3d: Graphics and haptics [https://github.com/chai3d/chai3d]
- RBDL: Articulated rigid-body kinematics, forward dynamics and inverse dynamics. [https://bitbucket.org/rbdl/rbdl/src]
Note: Please specify the following CMake flags when building RBDL to build the URDF reader addon:
cmake -DRBDL_BUILD_ADDON_URDFREADER=ON -DRBDL_USE_ROS_URDF_LIBRARY=OFF ..
- Sai2-Simulation: Articulated rigid-body physics simulation [private at https://github.com/manips-sai/sai2-simulation, contact shameekg@stanford.edu]
-- OSX/ Linux:
- mkdir build
- cmake ..
- make
-- OSX/ Linux:
- rm -r build
- rm -r ~/.cmake/packages/SAI2-COMMON
Take a look at sample applications under examples/. You can run them from build/examples//.
Currently pending licensing. PLEASE DO NOT DISTRIBUTE.
- Gerald Brantner
- Brian Soe
- Mikael Jorda
- Shameek Ganguly
- Toki Migimatsu
manips.sai@gmail.com
mjorda@stanford.edu
shameekg@stanford.edu