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conrob_pybullet

construction robots' urdf, srdf models + ikfast modules for pybullet

Installation

$ git clone https://github.com/yijiangh/conrob_pybullet.git

Install pybullet

Install PyBullet on OS X or Linux using:

pip install numpy pybullet

Install ikfast modules

To build ikfast modules:

$ cd utils/ikfast/kuka_kr6_r900/
$ python setup.py build

For other robots, replace kuka_kr6_r900 with the following supported robots:

• eth_rfl
• abb_irb6600_track

Installation test

1. Test pybullet: python -c 'import pybullet'

2. Testing new IKFast modules

• `$ python -m debug_examples.test_eth_rfl_pick
• `$ python -m debug_examples.test_irb6600_track_pick