At this stage I have re implemented most of the functionality that meshup provides. You can now use it to visualize your results.
Use cmake to build and install, make sure to recursively clone the repository.
git clone --recursive https://github.com/ORB-HD/rbdl-toolkit
- RBDL with minimum version 3.0.0
- Eigen3
- Qt5 version >= 5.13
- Qt3D and assimp for model loading
Warning rbdl-toolkit builds with qt5.9 but the rendering plugin will not work due to bugs in qt.
Since our research group is mostly using Ubuntu here is a quick one line install command for all dependencies except RBDL.
sudo apt install qt5* qt3d* libeigen3-dev libassimp-dev
Ubuntu installs qt5.9 per default and rbdl-toolkit will work with the exception of the rendering plugin. In order use the rendering plugin you will have to install qt your self. To do this download the open source version of qt from the website and follow the installation instructions. Make sure to install at version 5.13.2 other versions are not guaranteed to work, since Qt3D is at the moment subject to many changes!
Afterwards build rbdl-toolkit with cmake and adding the CUSTOM_QT_PATH variable set to your [QT_INSTALL_DIR]/[QT_VERSION]/[COMPILER]/lib. For me that looked like this:
cmake -DCUSTOM_QT_PATH=~/Qt5.13/5.13.2/gcc_64/lib ..
make
The behavior of the toolkit can be adjusted by editing the settings of the
application. This can be done by editing the settings file. On Linux systems
it will be located at ~/.config/ORB/rbdl-toolkit.conf.
Plugins should document their settings in their README files.
rbdl-toolkit supports command line options. To see all available options
execute rbdl-toolkit --help, plugins may add options so make sure all
plugins you want to load are enabled in the settings!
Options may be specified multiple times in order to load multiple models for example.
This Application is extendable with qt plugins. There are two types of Plugins, core plugins and optional plugins. Their interfaces are the same, but a core plugin can not be disabled while the application is running. While the optional plugins can be enabled and disabled.
Core Plugins:
- Animation
- Camera Operator
- Forces and Torques
Optional Plugins:
- Rendering (Picture and Video rendering)
Info To also build the optional plugins you will need to set the cmake option
TOOLKIT_BUILD_OPTIONAL_PLUGINS to ON. This might mean that you will require
additional dependencies like libffmpeg.
In the extra folders are some python scripts that might be useful when converting model meshes from meshup to rbdl-toolkit.
If you find bugs or have other questions please file a GitHub issue on this repository.