CPG library
This is a useful library written in the C programming language, that can be used to construct and simulate dynamical systems. See the reference API documentation for more information.
Optimization Framework
For a conceptual overview of the framework, please read the manual (html). This is particularly useful to get a good view of all the different components of the framework.
To implement dispatchers, or webots controllers for the framework, please look at the liboptimization API reference. When implementing new optimization algorithms (which are written in C#), you can view the liboptimization-sharp reference API.
Installation Instructions for Ubuntu Xenial
- Make sure to add the repository if you have already not
sudo add-apt-repository ppa:fdzela/biorob-optimization
sudo apt-get update
- Install all the optimization libraries
sudo apt-get install biorob-optimization
This is a meta package. The different package installed are the following :
libbiorob-math1-sharp libjessevdk1 liboptimization2 liboptimization2-dispatchers-matlab liboptimization2-dispatchers-webots liboptimization2-sharp liboptimizers2-sharp opticommand optirunner optiworker optiextractor optimaster
- The above package is missing liboptimization2-dev : To install the same,
sudo apt-get install liboptimization2-dev
Installation Instructions for Ubuntu Trusty [deprecated]
- Make sure to add the repository if you have already not
wget -qO- https://ponyo.epfl.ch/packages/sign.key | sudo apt-key add –
sudo add-apt-repository https://ponyo.epfl.ch/packages
sudo apt-get update
- Install all the optimization libraries
sudo apt-get install biorob-optimization
A small toy example shows how to use the optimization framework for optimizing a toy problem in a very simple setup in webots.
Ubuntu Software Repository
There is an ubuntu software repository available for use in biorob. It contains the cpg library and optimization tools. There is currently only a repository for ubuntu trusty 64 bits.
deb https://ponyo.epfl.ch/packages/ trusty main
You can issue the following two commands to add the repository and install the repository key.
wget -qO- https://ponyo.epfl.ch/packages/sign.key | sudo apt-key add –
sudo add-apt-repository https://ponyo.epfl.ch/packages
sudo apt-get update
Robot Modelling
- SW2URDF Tutorial
Tutorial on how to use the SW2URDF module for SolidWorks.SWURDF is a add-in for Solidworks that allows to expart a robot in urdf format and use it then in physical simulator such as Vrep.
Link to the tutorial : here