readme.md

Robot Properties Bolt

URDF and Pinocchio integration of the Bolt robot.

Installation

Standard dependencies

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.

Download the package

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 git@github.com:machines-in-motion/treep_machines_in_motion.git
treep --clone ROBOT_PROPERTIES_BOLT

Usage

Demos/Examples

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 git@github.com:machines-in-motion/bullet_utils.git
cd bullet_utils
pip3 install .

git clone git@github.com: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 and Copyrights

License BSD-3-Clause Copyright (c) 2019, New York University and Max Planck Gesellschaft.