UPMC iCub project/Arboris-Python
What is Arboris-Python
Arboris-Python is a dynamic simulator, developed and maintained by Joseph Salini. More information here.
If you do not have them installed yet, download and install python and few related tools:
sudo apt-get install ipython python-setuptools python-sphinx graphviz
You can download the code of Arboris and its visualization tools on git, then enter each folder and launch the setup command, like specified in the following.
arboris-python: main simulator
git clone https://github.com/salini/arboris-python.git cd arboris-python/ python setup.py install --user
pycollada: tool for read/write collada files. this is need to visualize the mechanical simulation
git clone https://github.com/pycollada/pycollada.git cd pycollada/ python setup.py install --user
pydaenim: tool for visualize the graphical simulations
git clone https://github.com/salini/pydaenim.git cd pydaenim/ python setup.py install --user
Installing with the --user option puts the executables on $HOME/.local/bin. You need to add this folder to the PATH, hence modify .bashrc to add this line:
If you install without this option, everything will be installed in /usr/local - for some reasons this is not advisable.
To start playing with simulation, for iCub for example, you may want to look at the controllers developed by Joseph Salini, which run on Arboris.
git clone https://github.com/salini/LQPctrl.git cd LQPctrl python setup.py install --user
Documentation can be browsed online here.
You can also compile the documentation locally on your machine using sphinx, with the following commands
cd arboris-python/ python setup.py build_doc
Html documentation can now be browsed in arboris-python/build/sphinx/html.
This page is under construction. Please ask Serena Ivaldi for more info.