This library allows to parse an URDF file and create RBDyn structure from it. It is entirely ROS-free.
Note: this package is deprecated, URDF parsing is now available directly in RBDyn
You must first setup our package mirror:
curl -1sLf \
'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
| sudo -E bash
You can also choose the head mirror which will have the latest version of this package:
curl -1sLf \
'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
| sudo -E bash
You can then install the package:
sudo apt install libmc-rbdyn-urdf-dev python-mc-rbdyn-urdf python3-mc-rbdyn-urdf
- tinyxml2
- Eigen (>= 3.0)
- SpaceVecAlg (with Python bindings if needed)
- RBDyn (with Python bindings if needed)
- Cython (>= 0.2) (Python bindings)
- Eigen3ToPython (Python bindings)
- Boost (unit tests)
git clone --recursive https://github.com/jrl-umi3218/mc_rbdyn_urdf
cd mc_rbydn_urdf
mkdir _build
cd _build
cmake [options] ..
make && make intall
By default, the build will use the python
and pip
command to install the bindings for the default system version (this behaviour can be used to build the bindings in a given virtualenv). The following options allow to control this behaviour:
PYTHON_BINDING
Build the python binding (ON/OFF, default: ON)PYTHON_BINDING_FORCE_PYTHON2
: usepython2
andpip2
instead ofpython
andpip
PYTHON_BINDING_FORCE_PYTHON3
: usepython3
andpip3
instead ofpython
andpip
PYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON2
: builds two sets of bindings one withpython2
andpip2
, the other withpython3
andpip3
BUILD_TESTING
Enable unit tests building (ON/OFF, default: ON)