Pinocchio =========== [](http://www.gnu.org/licenses/lgpl-3.0.txt) [](https://travis-ci.org/stack-of-tasks/pinocchio) [](https://coveralls.io/github/stack-of-tasks/pinocchio?branch=devel) [](https://scan.coverity.com/projects/pinocchio) **Warning:** This repository contains [Git submodules][git-submodules]. Please clone this repository using the `git clone --recursive` command. If you already have cloned the repository, you can run `git submodule init && git submodule update` to retrieve the submodules. For general information about the project, please refer to its homepage: http://stack-of-tasks.github.io/pinocchio/ Setup ----- To compile this package, it is recommended to create a separate build directory: mkdir _build cd _build cmake [OPTIONS] .. make install Please note that CMake produces a `CMakeCache.txt` file which should be deleted to reconfigure a package from scratch. ### Dependencies The Pinocchio software depends on several packages which have to be available on your machine. - Libraries: - eigen3 (version >= 3.0.5) - boost unit_test_framework filesystem - Optional: - urdfdom (version >= 0.3.0) - LUA (version == 5.1) - System tools: - CMake (>=2.6) - pkg-config - usual compilation tools (GCC/G++, make, etc.) - Bindings: - Python: Python 2.7 + Numpy + Boost python + EigenPy (https://github.com/stack-of-tasks/eigenpy.git) ### Install standalone urdfdom In order to read urdf files (see http://wiki.ros.org/urdf for the description), one haves to install the urdfdom package which can come either along ROS library or be installed as a standalone library. Next section describes the second procedure. urdfdom depends on both console_bridge and urdfdom_headers. The installation of both dependencies can be done with the following command lines in a terminal : - git clone git://github.com/ros/console_bridge.git && cd console_bridge && mkdir build && cd build && cmake .. && make && sudo make install - git clone git://github.com/ros/urdfdom_headers && cd urdfdom_headers && mkdir build && cd build && cmake .. && make && sudo make install Finally, you just need to apply the following command line to install urdfdom library : - git clone git://github.com/ros/urdfdom && cd urdfdom && mkdir build && cd build && cmake .. && make && sudo make install