OSCR - Operational Space Control for Redundant Robots

OSCR is a C++ library that allows to generate whole-body motion for multi-articulated robots, currently using inverse kinematics.

For very detailed installation instructions (if you are new to Linux) take a look at INSTALL.md. Otherwise, the following instructions should be enough.

Before installing OSCR, it is recommended to install the oscr-deps package which contains the required dependencies (refer to this package for installation instructions). These dependencies can also be installed manually one by one, but care should be taken for compatibility.

To compile the library OSCR in a separate directory use:

mkdir build
cd build/
cmake .. -DCMAKE_INSTALL_PREFIX=your_prefix
make

where your_prefix is the path where the library will be installed. You can check that the compilation has been successful by executing the ff6dofModel executable that can be found in build/examples/c++ (the source code can be found in examples/c++). If some joint and link information are shown without errors, then the package has been correctly compiled.

To install this package use:

make install

To use the python bindings (still under development) you must add the python installation path (your_prefix/lib/python2.7/site-packages) to the environmental variable PYTHONPATH in .bashrc. The library loscr must also be accessible by adding the libray installation path (your_prefix/lib) to the environmental variable LD_LIBRARY_PATH in .bashrc.

To test that Python has been properly set, the files in unitTests/python and in examples/python can be executed. They should return information about the robot model.

The documentation is contained in the code and can be extracted using doxygen. To generate it, use:

make doc

This will generate documentation in build/doc/doxygen-html. To see it, launch index.html with your favorite browser.

The OSCR library depends on the following libraries which have to be available on your machine.

• Libraries:
  • rbdl (provided by oscr-deps)
  • qpOASES (provided by oscr-deps)
  • pinocchio (provided by oscr-deps)
  • Eigen
  • swig
• System tools:
  • CMake (>=2.8)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)
• For documentation:
  • doxygen
  • doxygen-latex