RBDL-Toolkit Wiki

In this wiki, we will detail how to utilize rbdl-toolkit, as well as various architecture details.

Installation

• For rbdl-toolkit users, the recommended option is to utilize the latest compiled AppImage. See the main readme for a guide.
• If you need to build from source, please see Building from Source

Settings

The behavior of the toolkit can be adjusted by editing the settings of the application. To easly change the Settings the Toolkit provides a nice settings editor which can be accessed via the ui. The settings are stored on disc, on Linux systems it will be located at ~/.config/ORB/rbdl-toolkit.conf. See Settings

Plugins should document their settings in their README files. See Plugins.

Command Line Options

rbdl-toolkit supports command line options. To see all available options execute rbdl-toolkit --help, plugins may add options so make sure all plugins you want to load are enabled in the settings!

Options may be specified multiple times in order to load multiple models for example.

Tutorials

• To load and play an animation related to a basic 2-link pendulum example, please see Creating Models
• To inverse kinematics given model data, please see Inverse Kinematics and Dynamics

Extending rbdl-toolkit

• For an overview of rbdl-toolkit as an application, please see Toolkit Architecture
• How to write a plugin?
• Using Qt3d
• Extending RBDL models