UPMC iCub project/Installing ORCISIR

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ORCISIR is a framework for whole-body control of multibody systems developed in ISIR. It is based on ORC, a framework developed by CEA-list within the XDE for Optimal Control of Robots (ORC).

For any problems with the installation ask Serena Ivaldi, Joseph Salini, Sovannara Hak.



We hereby assume you have Ubuntu 12.04.


Download: download instructions will be published soon



Go in the directory where you put ORCISIR (for example /home/icub/software/src/orcisir_ISIRController), let us call it $ORCISIR_ROOT. The installation is the usual:

  mkdir build
  cd build
  ccmake ..
  make install

If the installation is successful, ORCISIR will install


In our case, we install everything as usual in /home/icub/software, so we have:


To verify that the installation is successful, go into the directory "examples", compile and execute "test_3T":

  cd $ORCISIR_ROOT/examples/test_3T
  mkdir build
  cd build
  ccmake ..

If the program executes successfully and outputs the simulation then it's ok. Note that the program has only text-output, no graphics.


Web documentation

You can find the documentation of ORCISIR in Joseph Salini's pages.

Those pages may not be updated regularly, so we suggest you to build your own doc locally.

Local documentation

You can compile the documentation locally on your machine using doxygen.


In Linux, check that it is installed on your machine

  sudo apt-get install doxygen doxygen-gui

There is now a little trick to do. Inside the folder $ORCISIR_ROOT/doc there is a style file called salini_commands.sty. This file is used to generate the equations in the doxygen pages, so you need it to generate the documentation ^^ You will need to add it in the tree of your tex distribution. In Ubuntu you can do:

  cd $ORCISIR_ROOT/doc
  sudo mkdir /usr/share/texmf/tex/latex/salini_commands
  sudo cp salini_commands.sty  /usr/share/texmf/tex/latex/salini_commands/salini_commands.sty
  sudo texhash .

Depending on if you have also TexLive installed, you may need to do this:

  sudo gedit /etc/texmf/texmf.d/05TeXMF.cnf

Then add the path of the folder where you have the style file:

  % The main distribution tree:
  TEXMFDIST = /usr/share/texmf-texlive;/home/icub/software/src/orcisir_ISIRController/doc

Then do:

  sudo update-texmf && sudo texhash && sudo mktexlsr

You're no ready to compile the documentation. Run the doxwizard:


Follow the instructions. You need to indicate the folder where is your code, select $ORCISIR_ROOT for that, and ORCISIR_ROOT/build as the place where your doc will be built. Click "run" and you'll have the doc in ORCISIR/build/doc/html.