URDF and Pinocchio integration of the Bolt robot.
This package is based on ROS2 based on dashing release and Pinocchio.
To install Pinocchio, the simplest way is using Conda:
```
conda install -c conda-forge pinocchio
```
Alternatively you can use any of the ways listed here.
Use the treep_machines_in_motion configuration.
Do not forget to register your ssh public key in your settings:
In short:
mkdir -p ~/devel
pip install treep
cd ~/devel
git clone [email protected]:machines-in-motion/treep_machines_in_motion.git
treep --clone ROBOT_PROPERTIES_BOLT
Below are some examples.
Loading Bolt in PyBullet
import pybullet as p
from bullet_utils.env import BulletEnvWithGround
from robot_properties_bolt.bolt_wrapper import BoltRobot
env = BulletEnvWithGround(p.GUI)
robot = env.add_robot(BoltRobot)
Run simulation on Max-Planck Institute cluster
conda create -n bolt python=3.7
source activate bolt
conda install -c conda-forge pinocchio
git clone [email protected]:machines-in-motion/bullet_utils.git
cd bullet_utils
pip3 install .
git clone [email protected]:open-dynamic-robot-initiative/robot_properties_bolt.git
cd robot_properties_bolt
pip3 install .
You find demos of Bolt on gepetto-viewer, Meshcat and PyBullet in thedemos/ folder.
License BSD-3-Clause Copyright (c) 2019, New York University and Max Planck Gesellschaft.