JulianYG / perls

SteamVR - BulletPhysics - ROS interface

perls

Design Diagram

Read more about API docs in this Wiki.

Directory Tree (Non-comprehensive)

• Installation script
• Test scripts, collecting demons, trajectory record post-processing
• Links for Sawyer arm urdf, gripper urdf, etc.
• Robot calibration, collision mesh generation, fresh Linux/cluster/robot setup instructions
• perls
  • Body definitions
  • Simulation configurations
  • Gym environments
  • Task specifications, aligned between gym and demo collection
  • Robot Functionalities
    • Moveit! configurations
    • grasping
    • Calibration data, calibration instructions
    • Utilities
      • Point Cloud pose registration

Bullet Windows Instructions

Change the python path in build_visual_studio_vr_pybullet_double.bat, and double click the file. Target solutions will be generated. Open the solution and retarget all projects. Right click and build all projects.

• URDF & SDF files: $bullet\data

• Docs: $bullet\docs

• Generated solution: $bullet\build3\vs2010

• Executables (Including built pybullet DLL): $bullet\bin

• Pybullet DLL (Windows): ~$Python\DLLs\pybullet.pyd