About DSFE

Installation

Pre-Requisites:

Before donwloading the latest release, you will need to have installed the following:

• Latest Visual C++ Redistributable
  

DSFE Installation:

Download the latest release of DSFE from Release in the DSFE GitHub Repository:

• Latest Release of DSFE
  

Disclaimer:
The DSFE software has been developed, maintained, and released by @SaltyJoss. As it is still under development, please submit and issue or comment if you find any major bugs/issues/errors within the software.

Project Info

Languages used

Robotic Models Used:

• Google Deepmind's open source models (MuJoCo) of Z1, UR5e, iiwa14, Panda, and H1 robotic systems
• StanforASL's repo for Panda robotic arm
• Unitree Robotics's repo for the Z1 and UR5e robotic arms
• Airbus's repo for the their Versatile In-Space and Planetary Arm (VISPA) URDF and model files

Citations

If you use this software in academic work, please cite it.
See CITATION.cff.

License

Licensed under the GPL-3.0 License.

TL;DR:
This project is licensed under GPL-3.0. You may use, modify, and distribute it (including commercially).
If you distribute this project or a modified version, you must provide the corresponding source code under GPL-3.0, and keep copyright, license, and attribution notices intact.
Modified versions should be clearly marked as modified. See the LICENSE file for details.

Attribution: Please retain the original author credit. A link back to this repository is greatly appreciated.

Third-Party Tools Used:

The software itself is made of 3 seperate solutions that are under the GPL-3.0 License. However, it has been built and tested using various thirdparty tools and libraries.

• Eigen for high-performance linear algebra operations that compute robot kinematics, dynamics, and numerical integration
• GLM for OpenGL-compatible vector and matrix types for graphics transforms, camera math, and rendering-side calculations
• GLFW for creating windows, manage OpenGL contexts, and handle user input across platforms
• GLAD for loading OpenGL function pointers at runtime, and enabling access to more modern OpenGL features
• ImGui for immediate-mode GUI for runtime controls, debugging panels, simulation visualisation tools, and the DSL script editor
• ImPlot for more complex realtime plots used during simulation runs in DSFE
• Assimp for importing 3D meshes and scene data from many file formats for robot models and misc objects
• nlohmann Json for integration of .json files within c++, allowing robots to have defined properties that can be easily retrieved upon loading
• HDF5 for storing structured time-series data from robotic arm simulation runs for post-analysis and comparisons of integration methods performance and stability
• stb image for lightweight loading of png and jpgs files previously used in cubemaps

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