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Get started with crisp_py

Note

If you want to use the gymnasium interface, CRISP_PY will be automatically installed in the gym. You can therefore check the installation of CRISP_GYM directly. However, this section still gives you an idea on how to use CRISP_PY with your robot. We do not recommend to skip it.

Warning

CRISP_PY has been tested with humble and jazzy using python version 3.11. You might encounter (solvable) problems using 3.12 and above, please check this scipy issue.

To use CRISP_PY, we recommend using pixi, a modern conda-like package manager. It can be used in combination with robostack to easily install ROS2 in any machine. There are a few ways to get you started:

... use in your already existing pixi project:

To use CRISP_PY in an already existing pixi project, you need to make sure that ROS2 is available. Check the pixi.toml of CRISP_PY to see how this looks like. Then you can add CRISP_PY as a pypi package: 

pixi add --pypi crisp-python
or 
uv add crisp-python
or 
pip install crisp-python
Double-check that everything is working by running:

python -c "import crisp_py"  # (1)!
  1. This should not log anything if everything is fine

... install from source:

git clone https://github.com/utiasDSL/crisp_py
cd crisp_py
pixi install
pixi shell -e humble
python -c "import crisp_py"  # (1)!
  1. This should not log anything if everything is fine

Now you can try to control the robot! Check out the examples for inspiration. Or check the examples sections in the documentation for the robot or for other components such as camera.