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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).

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).

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Wrapper around ODE to make dynamic simulators for robots

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