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:
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
To cite CONSIM in your academic research, please use the following bibtex line:
@article{Hammoud2022,
author = {Hammoud, Bilal and Olivieri, Luca and Righetti, Ludovic and Carpentier, Justin and {Del Prete}, Andrea},
doi = {10.1007/s11044-022-09818-z},
issn = {1573-272X},
journal = {Multibody System Dynamics},
number = {4},
pages = {443--460},
title = {{Exponential integration for efficient and accurate multibody simulation with stiff viscoelastic contacts}},
url = {https://doi.org/10.1007/s11044-022-09818-z},
volume = {54},
year = {2022}
}