The libraries implemented in this repository are still experimental and we cannot guarantee stable API
The bipedal-locomotion-framework project is a suite of libraries for achieving bipedal locomotion on humanoid robots.
- 📄 Mandatory dependencies
- 🔨 Build the suite
- 📙 Exported components
- 💻 Some utitilites
- 🔨 Build the suite
- 📦 Install with conda (recommended)
- 🐍 Python
- 🏃 How to use the libraries
- ⚙️ Contributing
The bipedal-locomotion-framework project is versatile and can be used to compile only some components.
The minimum required dependencies are Eigen3, iDynTree and spdlog. If you want to build the tests please remember to install Catch2. If you are interested in the python bindings generation please install python3 and pybind11 in your system.
The bipedal-locomotion-framework project consists of several components. The components are stored in the src folder and their compilation depends on the installed dependencies.
| Component | Description | Additional Dependencies |
|---|---|---|
| Framework | Interface library that gathers all the exported components, includable with the file BipedalLocomotion/Framework.h |
- |
| AutoDiff | Bridge between CppAD and Eigen | CppAD |
| ContactModels | Models to describe the contact between robot and enviroment | - |
| Contacts | Syntactic description of a contact | manif nlohmann json |
| CommonConversions | Common conversion utilities used in the framework | - |
| ManifConversions | manif library related conversion utilities used in the framework |
manif |
| Estimators | Library containing observers | - |
| FloatingBaseEstimator | Library containing floating base estimators | manif |
| GenericContainer | Data structure similar to span but resizable. |
- |
| IK | Inverse kinematics | manif osqp-eigen |
| Math | Library containing mathematical algorithms | manif |
| ParametersHandler | Library for retrieving parameters from configuration files | YARP (only if you want the YARP implementation) tomlplusplus (only if you want the toml implementation) |
| Planners | Library containing planner useful for locomotion | manif CasADi qhull |
| RobotInterface | Generic interface classes to adapt to various IO data formats | YARP (only if you want the YARP implementation) |
| System | Description of discrete and continuous dynamical systems | - |
| TSID | Task space inverse dynamics | manif lie-group-controllers |
| YarpUtilities | Utilities library for retrieving data and from YARP structures | YARP |
| PerceptionInterface | Generic interface classes to adapt to perception data formats like images and point clouds | OpenCV PCL |
| PerceptionCapture | Library containing driver classes for perception devices | OpenCV PCL realsense2 |
| PerceptionFeatures | Library containing perception algorithms useful for locomotion | OpenCV |
| SimplifiedModelControllers | Library containing the controllers based on simplified models | manif |
BipedalLocomotion/Framework.h may result in higher compilation time because of the inclusion of headers which may not be used in your project. It is always suggested to follow the IWYU paradigm. This applies also for the CMake targets. It is suggested to link only the targets used in your project.
You can easily the library with conda using the following command
conda install -c robotology bipedal-locomotion-frameworkconda will automatically install all the required dipendencies.
The bipedal-locomotion-framework can be built on Windows, macOS, and Linux. The easiest way to compile the library is to use the robotology-superbuild. If you enable the profiles ROBOTOLOGY_ENABLE_DYNAMICS and ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS in the robotology-superbuild you will automatically clone and build bipedal-locomotion-framework and all the dependencies.
If you do not want to use the robotology-superbuild you can manually compile the code in the repository running the following command in the terminal
git clone https://github.com/dic-iit/bipedal-locomotion-framework.git
cd bipedal-locomotion-framework
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<path/where/you/want/to/install> \
-DCMAKE_BUILD_TYPE=Release \
cmake --build . --config Release --target installRemark: If you manually compile the framework remember to install the dependencies required by the component you are interested in.
The bipedal-locomotion-framework ships also some utilities that can help you in the everyday tests on a real robot. You can find them in the utilities folder. Each utility contains a well-documented README where you can find further details.
bipedal-locomotion-framework provides also python bindings. Only a small set of the components implemented in the library have the corresponding python bindings.
If you want to compile the bindings please install python3 and pybind11 in your system then you can run the following CMake command in your build folder
cmake -DCMAKE_INSTALL_PREFIX=<path/where/you/want/to/install> \
-DCMAKE_BUILD_TYPE=Release \
-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \
-DPython3_ROOT_DIR=$(python3 -c "import sys; print(sys.prefix)") \
-DFRAMEWORK_USE_Python3:BOOL=ON \
-DFRAMEWORK_USE_pybind11:BOOL=ON .
cmake --build . --config Release --target installDisclaimer: The python bindings are currently supported on Linux.
The bipedal-locomotion-framework provides native CMake support which allows the library to be easily used in CMake projects.
bipedal-locomotion-framework exports the CMake targets presented in Exported components section. The targets can be imported using the find_package command and used by calling target_link_libraries.
For instance, Math component can be used as follows:
cmake_minimum_required(VERSION 3.0)
project(myproject)
find_package(BipedalLocomotionFramework COMPONENTS Math REQUIRED)
add_executable(example example.cpp)
target_link_libraries(example PRIVATE BipedalLocomotion::Math)bipedal-locomotion-framework is an open-source project, and is thus built with your contributions. We strongly encourage you to open an issue with your feature request. Once the issue has been opened, you can also proceed with a pull-request 🚀