搭建通用逆运动学环境

 

（1）sudo apt install -qqy lsb-release curl

（2） sudo mkdir -p /etc/apt/keyrings
 curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc \
     | sudo tee /etc/apt/keyrings/robotpkg.asc

（3） echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \
     | sudo tee /etc/apt/sources.list.d/robotpkg.list

（4）sudo apt update

（5）如果第（4）步失败，继续执行第（2）步，然后再执行第（4）步

（6）sudo apt install -qqy robotpkg-py3*-pinocchio

（7）在.bashrc下编辑

export PATH=/opt/openrobots/bin:$PATH
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
export PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH # Adapt your desired python version here
export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH