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rbdl / rbdl-toolkit

Application for visualizing and working with rbdl models
European Union Public License 1.2
21 stars 11 forks source link
appimage cmake inverse-kinematics linux macos qt3d qt5 rbdl rbdl-toolkit robotics urdf-models visualization wiki windows

readme

RBDL - Toolkit Build Status

This application is intended to be used to visualize results and data of rigid body dynamics systems. It is build on top of RBDL and uses Qt3D as it's graphics backend. RBDL-Toolkit is designed to be extendable via plugins and to make developing plugins easy there is a plugin template.

RBDL-Toolkit now supports loading and displaying of Lua and URDF models!

How to get this software

This software is provided as an AppImage for Linux and as an DMG for MACOS. There is also an installer for Windows.

wget https://github.com/ORB-HD/rbdl-toolkit/releases/latest/download/rbdl-toolkit-x86_64.AppImage
wget https://github.com/ORB-HD/rbdl-toolkit/releases/latest/download/toolkit-buildplugin-x86_64.AppImage
chmod +x rbdl-toolkit-x86_64.AppImage
./ rbdl-toolkit-x86_64.AppImage

If you need to compile this code from source, please see the Wiki page on Build from Source

Wiki

For tutorials and functionality extensions to the toolkit take a look at our wiki. It will cover the basics of creating a new plugin and other information on how to use qt3d.

Extras

In the extra folders are some python scripts that might be useful when converting model meshes from meshup to rbdl-toolkit.

Issues

If you find bugs or have other questions please file a GitHub issue on this repository.

License

This work is licensed with the EUPL v1.2.