b1Reachability

.obj files describing the kinematic constraints of the b1 robot.

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Installation

1. Build and install using CMake:

mkdir build
cd build
cmake ..
cmake --install . --prefix /desired/install/path

This will install:

• .obj files in share/b1Reachability/reachability_constraints

• CMake config: share/b1Reachability/cmake/b1ReachabilityConfig.cmake

• Python config: share/b1Reachability/b1ReachabilityConfig.py

2. Add Python config to your PYTHONPATH:

export PYTHONPATH=/desired/install/path/share/b1Reachability:$PYTHONPATH

This allows Python scripts to import b1ReachabilityConfig and access the .obj files. Usage Install example robot data

Regenerate the obj files

For this to work you need pinocchio, example-robot-data, pycddlib, scipy and Blender 4.3

conda install example-robot-data scipy -c conda-forge

1. Make the script script executable:

chmod +x script/gen_and_copy.sh

2. Run the script with the path to your Blender 4.3 executable:

./script/gen_and_copy.sh /path/to/blender-4.3

This will generate reduced .obj files from the original kinematic constraint models.

Usage

1. Using the files in Python:

from b1ReachabilityConfig import B1REACHABILITY_CONSTRAINTS_DIR
import os, glob

obj_files = glob.glob(os.path.join(B1REACHABILITY_CONSTRAINTS_DIR, "*.obj"))
print("Found OBJ files:", obj_files)

2. Using the files in C++: CMakeLists.txt example

find_package(b1Reachability REQUIRED PATHS /desired/install/path/share/b1Reachability/cmake)

message(STATUS "Reachability OBJ dir = ${B1REACHABILITY_CONSTRAINTS_DIR}")

add_executable(test_find main.cpp)

target_compile_definitions(test_find PRIVATE
    B1REACHABILITY_CONSTRAINTS_DIR="${B1REACHABILITY_CONSTRAINTS_DIR}")

cpp file

// main.cpp
#include <iostream>
#include <filesystem>

int main() {
    std::string obj_dir = B1REACHABILITY_CONSTRAINTS_DIR;

    std::cout << "Reachability OBJ dir: " << obj_dir << std::endl;

    for (const auto &entry : std::filesystem::directory_iterator(obj_dir)) {
        std::cout << "  - " << entry.path() << std::endl;
    }

    return 0;
}