Notebook Entry

  • [x] Wrote script to automate my personal machine installation
  • [x] Prepare the gyro bike non-linear and linear models for the senior design group.
  • [x] Send the main bicycle papers to senior design group.
  • [x] Make an information web page for the senior design group.
  • [x] Build simbody and opensim

Gyrobike model

I built linear and non-linear models of an extended Whipple model which includes an additional flywheel mounted concentricly with the front wheel. This was already done in my dissertation, but I converted the models to Matlab for the senior design group to remove the requirement to learn a new language and match up with what they are learning in their controls course. The models are available here:


Some notes to install on Ubuntu 13.04 from 7e06039b0aa4188d2ae63dd5ba36304cb6af467e.


Here is some step by step instructions for installing on Ubuntu 12.04. I'm not sure which version of the software is was:

These requirements are already installed in the software dev and blas/lapack sections:

$ sudo aptitude install build-essential cmake cmake-curses-gui

This will get all the headers for the BLAS/LAPACK versions that are available:

$ sudo aptitude install libblas-dev libatlas-dev libopenblas-dev liblapack-dev

Visualizer requires:

$ sudo aptitude install freeglut3-dev libxmu-dev libxi-dev
$ mkdir ~/src/simbody $ cd ~/src/simbody $ git clone $ mkdir build $ mkdir build_d $ cd build $ ccmake ../simbody

In ccmake type 'c' for configure, 't' to toggle to advanced mode, edit any values, 'c' again for configure, and 'g' for generate.

$ cd ../build_d
$ ccmake ../simbody

In ccmake change CMAKE_BUILD_TYPE to Debug.

$ make -j2 # -j2 specifies the number of cores you have $ make test $ ./ExamplePendulum # should show visualization $ make doxygen

The following puts everything in /usr/local, but it should have went into /usr/local/SimTK. See for more info.

$ sudo make install
$ cd ../build
$ make -j2
$ make test
$ sudo make install

Now try out using the libraries from an arbitrary directory. First, copy the raw C++ files for the examples to a new directory to play with:

$ cp -r ~/src/simbody/simbody/Simbody/examples ~/src/simbody-examples
$ cd ~/src/simbody-examples
$ export LD_LIBRARY_PATH=/usr/local/lib/
$ export SIMBODY_HOME=/usr/local

Comment out this line in the Makefile because I'm on a 64 bit system:

M32FLAG = -m32

I also changed this line to:


to reflect where my libs were actually installed. Now try running the example:

$ make ExamplePendulum
$ ./ExamplePendulum

The gui should pop up. You can build all examples with:

$ make all

I've read that having to set the LD_LIBRARY_PATH should only be used for testing. You shouldn't have to do this for standard installs. So I think the Simbody devs should fix this. Also the compiled examples can't find the /usr/local/bin directory unless I set SIMBODY_HOME. Otherwise it looks in /usr/local/SimTK/bin which doesn't exist. When I originally ran ccmake it didn't give me an option to set the installation directory and the default seems to have been /usr/local instead of /usr/local/SimTK.

I need to uninstall and go into the advanced toggle in ccmake and set CMAKE_INSTALL_PREFIX to /usr/local/SimTK and then reinstall.

I filed these issues:


mkdir ~/src/opensim
cd ~/src/opensim
$ svn checkout
$ mkdir build
$ cd build
$ ccmake ../Trunk

Type 'c' and add:


Type 'c' and then 'g'.

$ make test

These tests failed on the trunk:

32/51 Test #32: testOptimizationExampleRuns ..................***Timeout 1500.03 sec
      Start 33: testOptimizationExample
33/51 Test #33: testOptimizationExample ......................***Failed    0.28 sec

These instructions are here:

and will be updated as I work out the kinks.