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

1. use git clone

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

2. 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

or

treep --clone mpi_cmake_modules

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

License and Copyrights

License BSD-3-Clause Copyright (c) 2021, New York University and Max Planck Gesellschaft.