robdyn

A simple C++ wrapper around ODE to make dynamic simulators for robots. Example of the work: http://pages.isir.upmc.fr/~mouret/website/

Don't hesitate to contribute!

If you use this software in an academic article, please cite one of the related team's article:

Koos, S. and Mouret, J.-B. and Doncieux, S. (2013). The Transferability Approach: Crossing the Reality Gap in Evolutionary Robotics. IEEE Transactions on Evolutionary Computation. Vol 17 No 1 Pages 122 - 145.
Koos, S. and Cully, A. and Mouret, J.-B. (2013). Fast Damage Recovery in Robotics with the T-Resilience Algorithm. International Journal of Robotics Research. Vol 32 No 14 Pages 1700-1723.
Doncieux, S. and Mouret, J.B. (2013). Behavioral Diversity with Multiple Behavioral Distances. Proc. of IEEE Congress on Evolutionary Computation, 2013 (CEC 2013). Pages 1-8.
Cully, A. and Mouret, J.-B. (2013). Behavioral Repertoire Learning in Robotics. Genetic and Evolutionary Computation Conference (GECCO). Pages 175-182. This software is developped in ISIR (http://isir.upmc.fr).

Dependencies

(the current Debian/Ubuntu packages should work).

OpenSceneGraph: http://www.openscenegraph.org/‎
ODE: http://www.ode.org
boost: http://www.boost.org
eigen2 : http://eigen.tuxfamily.org/index.php?title=Main_Page

Compiling

./waf configure
./waf install

Useful options:

--boost-libs=
--boost-includes=
--help
--eigen2=
--disable_osg=yes

Credit

This software was mainly written by Jean-Baptiste Mouret (mouret@isir.upmc.fr), with contributions from Sylvain Koos (sylvain.koos@gmail.com) and Antoine Cully (cully@isir.upmc.fr).