/sai2-simulation

A high performance simulation library in the SAI project

Primary LanguageC++

Project name: sai2-simulation (version: 2.0.0)

This project uses Semantic Versioning (http://semver.org/).

Project short description:

The Sai2-Simulation library implements a complete multi-articulated body simulation system with the following components:

  • Articulated body specification
  • Time-stepping integrator
  • Multi-point contact detection
  • Multi-point multi-body collision resolution
  • Multi-point multi-body contact resolution (with Coulomb friction)

SAI library dependencies:

Chai3d: https://github.com/manips-sai-org/chai3d sai2-urdfreader : https://github.com/manips-sai-org/sai2-urdfreader sai2-common : https://github.com/manips-sai-org/sai2-common

Other dependencies

freeglut3, libxmu, libstdc++.

Installation instructions:

mkdir build && cd build
cmake .. && make -j4

Uninstallation instructions:

rm -r build
rm -r ~/.cmake/packages/SAI2-SIMULATION

Getting started:

Take a look at sample applications under examples/. You can run them from build/examples/.

License:

Currently pending licensing. PLEASE DO NOT DISTRIBUTE.

Project contributors:

  • Kyong-sok Chang
  • Diego Ruspini
  • Luis Sentis
  • Jaehong Park
  • Francois Conti
  • Shameek Ganguly
  • Mikael Jorda

For questions, contact:

manips.sai@gmail.com
mjorda@stanford.edu