CONSIM - CONtact SIMulation

CONSIM is C++ library for simulation of rigid multi-body dynamics with contacts, based on Pinocchio.

Dependencies

For the cpp code:

• boost (unit_test_framework)
• eigen3
• pinocchio
• eiquadprog

For the python code:

• gepetto-viewer-corba
• example-robot-data
• tsid
• expokit-cpp

Installation

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

Python Bindings

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

Citing CONSIM

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}
}