RBDyn provide a set of class and function to model the dynamics of rigid body systems.

This implementation is based on Roy Featherstone Rigid Body Dynamics Algorithms book and other state of the art publications.

Use the multi-contact-unstable ppa:

sudo add-apt-repository ppa:pierre-gergondet+ppa/multi-contact-unstable
sudo apt-get update
sudo apt-get install librbdyn-dev librbdyn-doc python-rbdyn python3-rbdyn

Install from the command line using Homebrew:

# install homebrew package manager
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
# install caskroom application manager
brew install caskroom/cask/brew-cask
# tap homebrew-science package repository
brew tap homebrew/science
# tap ahundt-robotics repository
brew tap ahundt/robotics
# install tasks and all its dependencies
brew install rbdyn

To compile you need the following tools:

• Git
• CMake >= 2.8
• pkg-config
• doxygen
• g++ >= 4.7 (for C++11 support)
• Boost >= 1.49
• Eigen >= 3.2
• SpaceVecAlg

For Python bindings:

• Cython >= 0.20
• Eigen3ToPython (to use the python binding)

git clone --recursive https://github.com/jrl-umi3218/RBDyn
cd RBDyn
mkdir _build
cd _build
cmake [options] ..
make && make intall

By default, the build will use the python and pip command to install the bindings for the default system version (this behaviour can be used to build the bindings in a given virtualenv). The following options allow to control this behaviour:

• PYTHON_BINDING Build the python binding (ON/OFF, default: ON)
• PYTHON_BINDING_FORCE_PYTHON2: use python2 and pip2 instead of python and pip
• PYTHON_BINDING_FORCE_PYTHON3: use python3 and pip3 instead of python and pip
• PYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON3: builds two sets of bindings one with python2 and pip2, the other with python3 and pip3
• DISABLE_TESTS Disable unit tests building (ON/OFF, default: OFF)

You can use the following AUR package.

Features:

• Kinematics tree Kinematics and Dynamics algorithm C++11 implementation
• Use Eigen3 and SpaceVecAlg library
• Free, Spherical, Planar, Cylindrical, Revolute, Prismatic joint support
• Translation, Rotation, Vector, CoM, Momentum Jacobian computation
• Inverse Dynamics, Forward Dynamics
• Inverse Dynamic Identification Model (IDIM)
• Kinematics tree body merging/filtering
• Kinematics tree base selection
• Python binding

To make sure that RBDyn works as intended, unit tests are available for each algorithm. Besides, the library has been used extensively to control humanoid robots such as HOAP-3, HRP-2, HRP-4 and Atlas.

A short tutorial is available here.

The SpaceVecAlg and RBDyn tutorial is also a big ressource to understand how to use RBDyn by providing a lot of IPython Notebook that will present real use case.

A doxygen documentation is available online.