robot_env_evaluator

The robot_env_evaluator module is a C++ library designed to evaluate the geometric and kinematic properties of on robot and its environment.

It provides functionalities to compute the:

• robot's kinematic properties: kinematics, jacobian.
• robot and environment's geometric information: distance, seperate vector, etc.

Installation

It is suggested to install this package from the whole example repository FLIQC_example_workspace_ros, which contains all the submodule for this repository.

If you really want to install this package individually:

1. install the pinocchio library as Linux binaries: pinocchio installation

2. clone this repository.

git clone https://github.com/riddhiman13/robot_env_evaluator

3. Build the library with CMake.

mkdir build
cd build
cmake ..
cmake --build .

Quick Start

If you only run this as standalone library, you can run the example code.

robot_env_evaluator_example

The documentation for most important classes are:

• robot_env_evaluator::RobotEnvEvaluator
• robot_env_evaluator::FrankaEmikaPreset

Documentation

You can view the online documentation at the link at the right side of this main page. Or you can see it here: robot_env_evaluator API Documentation

The documentation can be generated with Doxygen with the following command after installing Doxygen.

cd docs
doxygen Doxyfile

Links

We use pinocchio library as our basic library: ttps://github.com/stack-of-tasks/pinocchio

We use coal library as our basic library for collision detection: https://github.com/coal-library/coal