Ballbot PyBullet Sim

This is Pybullet-based CMU Ballbot simulation environment associated with our CoRL 2023 paper -- Multi-Resolution Sensing for Real-Time Control with Vision-Language Models.

Installation instructions

Clone and install mrest-pybullet

git clone git@github.com:iamlab-cmu/mrest-pybullet.git
cd mrest-pybullet
pip install -e .

Install orocos_kinematics_dynamics

Follow installation instructions here https://github.com/orocos/orocos_kinematics_dynamics.

git clone git@github.com:orocos/orocos_kinematics_dynamics.git
cd orocos_kinematics_dynamics
git submodule update --init

Some useful debugging steps:

cp <INSTALL_DIR>/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL.so ~/anaconda3/envs/<YOUR_CONDA_ENV>/lib/python3.8/lib-dynload
cp <INSTALL_DIR>/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL.so /usr/local/lib

Install quaternion:

conda install -c conda-forge quaternion
or
python -m pip install --upgrade --force-reinstall numpy-quaternion