This is SAI2 robot model library for robot kinematics and dynamics. It uses RBDL and adds function to facilitate the implementation of the whole body control framework from Stanford Robotics Lab.

sai2-model depends on eigen3 and sai2-urdfreader. You can get sai2-urdfreader there.

To install eigen3 on Ubuntu :

sudo apt-get install libeigen3-dev

on Mac :

brew install eigen

You can use the provided install script for automatic install

sh install.sh

Or you can install manually :

• First go to the rbdl folder and make rbdl

cd rbdl
mkdir build
cd build
cmake .. && make -j8
cd ../..

• Then you can make sai2-model from the base directory

mkdir build
cd build
cmake .. && make -j8

Go to the build/examples/one_of_the_examples folder and run the example. For example 1 :

cd build/examples/01-create_model_from_file
./01-create_model_from_file