mantisBullet
pybullet example and urdf files for the mantis robot arm
there are simplified stl files of the mantis robot arm in the ./mantis/visual/link_X.stl folder. Each stl origin is the origin of it's link. So no creasy transformations are needed. Right now there are no special collision models.
Demo
mantisrobot_minimal.py is a very simple script where the arm tracks a target. You can manipulate the target with mouse drag and drop.
mantisrobot_3DM.py
is a simple demo to control the robot with a 3D Connexion Spacemouse
it needs the pyspacenavigator and pywinusb
Installation
you need to install pybullet
pip install pybullet
The URDF file
mantisrobot_urdf.py
generates the urdf files for the manatis robot you only need to run this if you want to change the robots parameter
to create the urdf I used the excellent python lib odio_urdf for this install catkin via pip
pip install catkin_pkg
then clone the lib to your working dir
git clone https://github.com/hauptmech/odio_urdf.git
and run
python setup.py install