CONSIM is C++ library for simulation of rigid multi-body dynamics with contacts, based on Pinocchio.

For the cpp code:

• boost (unit_test_framework)
• eigen3
• pinocchio
• eiquadprog For the python code:
• gepetto-viewer-corba
• example-robot-data
• tsid

First you need to install all dependencies. To install pinocchio and the other dependencies you can follow the instruction on the associated website, or you can install them via apt: sudo apt install robotpkg-py27-example-robot-data robotpkg-collada-dom robotpkg-gepetto-viewer robotpkg-gepetto-viewer-corba robotpkg-hpp-fcl+doc robotpkg-osg-dae robotpkg-py27-pinocchio

To build this library

cd $DEVEL/openrobots/src/
git clone --recursive git@github.com:andreadelprete/consim.git
cd consim
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=$DEVEL/openrobots
make install

To use this library in python, we offer python bindings based on Boost.Python and EigenPy.

To install EigenPy you can compile the source code:

git clone https://github.com/stack-of-tasks/eigenpy

or, on Ubuntu, you can use apt-get:

sudo apt-get install robotpkg-py27-eigenpy

For testing the python bindings, you can run the unit test scripts in the script folder, for instance:

ipython script/test_solo_cpp_sim.py

To test the python version of the simulator (with matrix exponential) you can run:

python scripts/test_exp_integrator_with_quadruped.py