The libraries implemented in this repository are still experimental and we cannot guarantee stable API
The bipedal-locomotion-framework project is a suite of libraries for achieving bipedal locomotion on humanoid robots.
- 📄 Mandatory dependencies
- 🔨 Build the suite
- 📙 Exported components
- 💻 Some utitilites
- 🐍 Python
- 🏃 How to use the libraries
- ⚙️ Contributing
The bipedal-locomotion-framework project is versatile and can be used to compile only some components.
The minimum required dependencies are Eigen3
, iDynTree
and spdlog
. If you want to build the tests please remember to install Catch2
. If you are interested in the python bindings generation please install python3
and pybind11
in your system.
The bipedal-locomotion-framework project consists of several components. The components are stored in the src
folder and their compilation depends on the installed dependencies.
Component | Description | Additional Dependencies |
---|---|---|
AutoDiff | Bridge between CppAD and Eigen | CppAD |
ContactModels | Models to describe the contact between robot and enviroment | - |
Contacts | Syntactic description of a contact | manif |
CommonConversions | Common conversion utilities used in the framework | - |
ManifConversions | manif library related conversion utilities used in the framework |
manif |
Estimators | Library containing observers | - |
FloatingBaseEstimator | Library containing floating base estimators | manif |
GenericContainer | Data structure similar to span but resizable. |
- |
IK | Inverse kinematics | manif osqp-eigen |
Math | Library containing mathematical algorithms | - |
ParametersHandler | Library for retrieving parameters from configuration files | YARP (only if you want the YARP implementation) |
Planners | Library containing planner useful for locomotion | manif CasADi qhull |
RobotInterface | Generic interface classes to adapt to various IO data formats | YARP (only if you want the YARP implementation) |
System | Description of discrete and continuous dynamical systems | - |
TSID | Task space inverse dynamics | manif lie-group-controllers |
YarpUtilities | Utilities library for retrieving data and from YARP structures | YARP |
PerceptionInterface | Generic interface classes to adapt to perception data formats like images and point clouds | OpenCV PCL |
PerceptionCapture | Library containing driver classes for perception devices | OpenCV PCL realsense2 |
PerceptionFeatures | Library containing perception algorithms useful for locomotion | OpenCV |
The bipedal-locomotion-framework can be built on Windows, macOS, and Linux. The easiest way to compile the library is to use the robotology-superbuild
. If you enable the profiles ROBOTOLOGY_ENABLE_DYNAMICS
and ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS
in the robotology-superbuild
you will automatically clone and build bipedal-locomotion-framework and all the dependencies.
If you do not want to use the robotology-superbuild
you can manually compile the code in the repository running the following command in the terminal
git clone https://github.com/dic-iit/bipedal-locomotion-framework.git
cd bipedal-locomotion-framework
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<path/where/you/want/to/install> \
-DCMAKE_BUILD_TYPE=Release \
cmake --build . --config Release --target install
Remark: If you manually compile the framework remember to install the dependencies required by the component you are interested in.
The bipedal-locomotion-framework ships also some utilities that can help you in the everyday tests on a real robot. You can find them in the utilities
folder. Each utility contains a well-documented README
where you can find further details.
bipedal-locomotion-framework provides also python bindings. Only a small set of the components implemented in the library have the corresponding python bindings.
If you want to compile the bindings please install python3
and pybind11
in your system then you can run the following CMake
command in your build
folder
cmake -DCMAKE_INSTALL_PREFIX=<path/where/you/want/to/install> \
-DCMAKE_BUILD_TYPE=Release \
-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \
-DPython3_ROOT_DIR=$(python3 -c "import sys; print(sys.prefix)") \
-DFRAMEWORK_USE_Python3:BOOL=ON \
-DFRAMEWORK_USE_pybind11:BOOL=ON .
cmake --build . --config Release --target install
Disclaimer: The python bindings are currently supported on Linux.
The bipedal-locomotion-framework provides native CMake
support which allows the library to be easily used in CMake
projects.
bipedal-locomotion-framework exports the CMake
targets presented in Exported components section. The targets can be imported using the find_package
command and used by calling target_link_libraries
.
For instance, Math
component can be used as follows:
cmake_minimum_required(VERSION 3.0)
project(myproject)
find_package(BipedalLocomotionFramework COMPONENTS Math REQUIRED)
add_executable(example example.cpp)
target_link_libraries(example PRIVATE BipedalLocomotion::Math)
bipedal-locomotion-framework is an open-source project, and is thus built with your contributions. We strongly encourage you to open an issue with your feature request. Once the issue has been opened, you can also proceed with a pull-request 🚀