You can also use micromamba instead of conda.
# create the virtual environment
# this also performs a pip install -e .,
# which installs the lib reachy2_modelling
conda env create -f env.yaml
# activate it
conda activate reachy2_modelling
# install library
# NOTE: no need for this if using conda env
pip install -e .
# test it
python -c 'import reachy2_modelling as r2m; print(r2m.__file__)'
# run it!
jupyter-lab pinocchio_reachy.ipynb
# run some of the tests scripts
python tests/test_reachy_fk_old.py
# to run tests and format
make format
make test
# to test rerun
cd bags
./bagdir_to_rerun.py simpletest # (contains only 6 points)
See TestExamples classes inside tests/ to see how to use the library, for instance, check TestReachyFK_Examples in tests/test_reachy_fk.py.