Robot Properties Solo

What it is

Collection of configuration files for the solo robot.

Installation

1. Install Pinocchio if you have not done so already.

   The simplest way to do so is using Conda:

   conda install -c conda-forge pinocchio
   

   Alternatively you can use any of the ways listed here: https://stack-of-tasks.github.io/pinocchio/download.html.

2. Install bullet_utils:

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

3. Install robot_properties_solo:

git clone git@github.com:open-dynamic-robot-initiative/robot_properties_solo.git
cd robot_properties_solo
pip3 install .

Examples

Below are a few examples. You find more in the demos/ folder.

Loading Solo12 in PyBullet

import pybullet as p
from bullet_utils.env import BulletEnvWithGround
from robot_properties_solo.solo12wrapper import Solo12Robot

env = BulletEnvWithGround(p.GUI)
robot = env.add_robot(Solo12Robot)

Run simulation on Max-Planck Institute cluster

conda create -n solo python=3.7
source activate solo
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_solo.git
cd robot_properties_solo
pip3 install .

License and Copyrights

Copyright(c) 2018-2021 Max Planck Gesellschaft, New York University

BSD 3-Clause License