For Ubuntu 22.04/24.04

Basic Install

This will install the WBC core library with a single robot model and QP solver respectively. Download this install script, store it in a folder of your choice (e.g., arc-opt), and execute it:

mkdir ~/arc-opt && cd ~/arc-opt
wget https://raw.githubusercontent.com/ARC-OPT/wbc/master/scripts/install.sh
sh install.sh

Full Install

This will install the WBC core library alongside with different robot models, solvers, and Python bindings. Download this install script, store it in a folder of your choice (e.g., arc-opt), and execute it:

mkdir ~/arc-opt && cd ~/arc-opt
wget https://raw.githubusercontent.com/ARC-OPT/wbc/master/scripts/full_install.sh
sh full_install.sh

Docker install

This requires docker to be installed beforehand.

git clone git@github.com:ARC-OPT/wbc.git
cd wbc/docker
docker build -t <image_name> .
docker run -i -t <image_name>

(Optional) With Hyrodyn-based robot model

This currently requires an account on https://git.hb.dfki.de

sudo apt-get install libyaml-cpp-dev liblua5.1-0-dev

git clone git@git.hb.dfki.de:dfki-mechanics/hyrodyn/rbdl.git
cd rbdl && mkdir build
cd build && cmake ..
sudo make -j8 install && cd ../..

git clone git@git.hb.dfki.de:dfki-mechanics/hyrodyn/hyrodyn.git
cd hyrodyn && mkdir build
cd build && cmake ..
sudo make -j8 install && cd ../..

mkdir wbc/build && cd wbc/build
cmake .. -DUSE_HYRODYN=1
sudo make -j8 install && cd ../..

(Optional) Python Bindings

Note that the Python3 bindings are not maintained as regularly as the core WBC lib.

wget https://raw.githubusercontent.com/ARC-OPT/wbc_py/master/scripts/install.sh
sh install.sh

Known Issues

• If shared libraries cannot be found when testing WBC, please update the LD_LIBRARY_PATH:

  export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
  

• The Python bindings are currently not installed as a Python package, thus the PYTHONPATH environment variable has to be adapted, so that they can be found by Python:

  export PYTHONPATH=$PYTHONPATH:/usr/local/lib/pythonX.X/site_packages
  

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