Project name: sai-simulation (version: 2.0.0)

This project uses Semantic Versioning (http://semver.org/).

Project short description:

The Sai-Simulation library implements a complete multi-articulated body simulation system with the following components:

• Articulated body specification
• Time-stepping integrator
• Multi-point contact detection
• Multi-point multi-body collision resolution
• Multi-point multi-body contact resolution (with Coulomb friction)

SAI library dependencies:

Chai3d: https://github.com/manips-sai-org/chai3d sai-urdfreader : https://github.com/manips-sai-org/sai-urdfreader sai-model : https://github.com/manips-sai-org/sai-model

Other dependencies

freeglut3, libxmu, libstdc++.

Installation instructions:

mkdir build && cd build
cmake .. && make -j4

Uninstallation instructions:

rm -r build
rm -r ~/.cmake/packages/SAI-SIMULATION

Getting started:

Take a look at sample applications under examples/. You can run them from build/examples/.

License

This software is distributed under the terms of the Stanford Academic Software License Agreement For SAI

Documentation

The documentation can also be accessed online at the following link

It can also be generated locally with doxygen:

cd docs
doxygen

Project contributors:

• Kyong-sok Chang
• Diego Ruspini
• Luis Sentis
• Jaehong Park
• Francois Conti
• Shameek Ganguly
• Mikael Jorda