This page contains additional downloads and resources related to RobCoGen. None of these are required to build nor to use RobCoGen.

URDF converter

This is a Python program that reads an URDF robot model and converts it into the KinDSL format. Please see the readme file in the git repository for more information.

To clone the repository:

git clone git@bitbucket.org:robcogenteam/urdf2kindsl.git

Docker containers

If you are already familiar with Docker you might want to use one of its containers rather than installing RobCoGen on your platform.

The following is a trivial Dockerfile that sets up an image based on Ubuntu 18.04, with RobCoGen 0.5.1 and its runtime dependencies.

FROM ubuntu:18.04

RUN apt-get update && apt-get -y install nano unzip wget maxima
RUN apt-get -y install openjdk-8-jre

RUN \
     mkdir -p /home/rcg/ && cd /home/rcg/ \
  && wget https://bitbucket.org/robcogenteam/robcogen-downloads/downloads/robcogen-0.5.1.zip \
  && unzip robcogen-0.5.1.zip \
  && mv robcogen-0.5.1/ 0.5.1/

Build it with:

docker build --tag robcogen -f <path to the Dockerfile> .

Launch the container with:

docker run -it --security-opt seccomp=unconfined robcogen

The security option is required to enable a sys call required by Maxima; without it, Maxima will fail with a weird "personality failure 1". Once inside the container, cd into /home/rcg/0.5.1 to run the tool.