Ompl python

README.md

@@ -12,6 +12,14 @@ sudo apt install $(cat debian_deps.txt)
 ```shell
 python3 -m venv .venv
 source .venv/bin/activate
+``` 
+alternatively, with Conda:
+```shell
+conda create -n rcs python=3.11 # Version ensures that python is installed to the environment
+conda activate rcs
+```
+Then, install the package:
+```shell
 pip install -r requirements_dev.txt
 pip config --site set global.no-build-isolation false
 ```

pyproject.toml

@@ -25,6 +25,7 @@ dependencies = ["websockets>=11.0",
     "pin==3.7.0",
     "tilburg-hand",
     "digit-interface",
+    "ompl>=1.7.0",
 ]
 readme = "README.md"
 maintainers = [

python/rcs/camera/sim.py

@@ -80,9 +80,7 @@ def _cpp_to_python_frames(self, cpp_frameset: _FrameSet | None) -> FrameSet | No
                     extrinsics=self._extrinsics(color_name),
                 ),
                 depth=DataFrame(
-                    data= (depth_np_frame * BaseCameraSet.DEPTH_SCALE).astype(
-                        np.uint16
-                    ),
+                    data=(depth_np_frame * BaseCameraSet.DEPTH_SCALE).astype(np.uint16),
                     timestamp=cpp_frameset.timestamp,
                     intrinsics=self._intrinsics(depth_name),
                     extrinsics=self._extrinsics(depth_name),