gym-panda-manipulation

A panda manipulation for 3D Object Reconstruction. It aims that panda arm grasps and rotates an object in front of RGB-D camera, so that all aspects of the object can be recoded.

Install

Conda virtual environment is recommended.

conda create -n [env_name] python=3.8
conda activate [env_name]

Example here:

conda create -n bulelt python=3.8
conda activate bullet

Install from source:

git clone https://github.com/susu1210/panda_manipulation.git
cd panda_manipulation
pip install .

Other dependencies:

• pyreflexxes for trajectory planning: https://github.com/kschwan/pyreflexxes.git

Installation guide:

1. RMLTypeII

   git clone https://github.com/kschwan/RMLTypeII.git
   cd RMLTypeII
   cmake . -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=ON
   make
   sudo make install
   

2. pybind11

   conda install -c conda-forge pybind11
   

3. pyreflexxes

   git clone https://github.com/kschwan/pyreflexxes.git
   cd pyreflexxes
   pip install --user .
   

• transformations

  pip install transformations==2020.1.1
  
  
  

Basic Usage

updating