UPMC iCub project/Arboris-Python

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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:

  export PATH=$PATH:$HOME/.local/bin

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.

First steps


This page is under construction. Please ask Serena Ivaldi for more info.