readme.md

April 27, 2021 · View on GitHub

Bullet Utils

The code provided in this repo simplifies the interaction between pinocchio and pybullet.

Installation

Standard dependencies

You need PyBullet and Pinocchio to install this package.

To run the demo, you need to install robot_properties_solo as well.

Download the package

To download this package, you can

use git clone

mkdir -p ~/devel/workspace/src
cd ~/devel/workspace/src
git clone git@github.com:machines-in-motion/bullet_utils.git

use treep with the treep_machines_in_motion configuration.

mkdir -p ~/devel
pip3 install treep
cd ~/devel
git clone git@github.com:machines-in-motion/treep_machines_in_motion.git
treep --clone bullet_utils

Build the package

You can install this package with

pure pip

cd mkdir -p ~/devel/workspace/src/bullet_utils
pip3 install .

or colcon

cd mkdir -p ~/devel/workspace
colcon build

Usage

Demos

To run the demo

cd mkdir -p ~/devel/workspace/src/bullet_utils/demos
python3 demo_simulate_a_robot.py

API documentation

The API documentation is automatically generated using colcon. For the build to work one need to add the mpi_cmake_modules to their workspace using git or treep.

cd ~/devel/workspace/src
git clone git@github.com:machines-in-motion/mpi_cmake_modules.git

treep --clone mpi_cmake_modules

TODO: Where to find the last built doc on the internet.