This is SAI robot model library for robot kinematics and dynamics. It uses RBDL and adds function to facilitate the implementation of the whole body control framework from Stanford Robotics Lab.

Dependencies

sai-model depends on eigen3 and sai-urdfreader. You can get sai-urdfreader there.

To install eigen3 on Ubuntu :

sudo apt-get install libeigen3-dev

on Mac :

brew install eigen

Build instructions

You can use the provided install script for automatic install

sh install.sh

Or you can install manually :

First go to the rbdl folder and make rbdl

cd rbdl
mkdir build
cd build
cmake .. && make -j8
cd ../..

Then you can make sai-model from the base directory

mkdir build
cd build
cmake .. && make -j8

Run the examples

Go to the build/examples/one_of_the_examples folder and run the example. For example 1 :

cd build/examples/01-create_model_from_file

./01-create_model_from_file

Documentation

The documentation can also be accessed online at the following link

It can also be generated locally with doxygen:

cd docs

doxygen

License

This software is distributed under the terms of the Stanford Academic Software License Agreement For SAI