This is a simple repository containing Poppy Ergo Jr robot with a working URDF model. The robot is then plugged in Pinocchio to perform forward kinematics and self collision checking in this repository.
To visualize the robot in random collision free configuration, install the repository then run:
python -m poppyarm.main
You can visualize the robot at http://127.0.0.1:7000/static/ .
Clone the repository and move to the root of the folder. To install the dependencies, you can then create a conda environment with:
conda env create -f environment.yml
Alternatively, you can update your current conda environment with:
conda env update -f environment.yml
Once dependencies are installed with conda, you can install poppyarm in your conda environment with:
pip install -e .