1. Get apollo-resources

follow steps here to get apollo-resources

2. Installation

in the python environment of your choice, use the following command

pip install apollo-toolbox-py

3. Verify

To verify that the installation worked, start a python session and run the following lines

from apollo_toolbox_py.prelude import *

r = ResourcesRootDirectory.new_from_default_apollo_robots_dir()
s = r.get_subdirectory('ur5')
c = s.to_chain_numpy()
fk_res = c.fk(6*[0.0])
print(fk_res)

you should see the following output

[LieGroupISE3q(
  rotation: [1. 0. 0. 0.],
  ----- 
  translation: [0. 0. 0.]
), LieGroupISE3q(
  rotation: [1. 0. 0. 0.],
  ----- 
  translation: [0.       0.       0.089159]
), LieGroupISE3q(
  rotation: [1. 0. 0. 0.],
  ----- 
  translation: [0.       0.13585  0.089159]
), LieGroupISE3q(
  rotation: [1. 0. 0. 0.],
  ----- 
  translation: [0.       0.01615  0.514159]
), LieGroupISE3q(
  rotation: [1. 0. 0. 0.],
  ----- 
  translation: [0.       0.01615  0.906409]
), LieGroupISE3q(
  rotation: [1. 0. 0. 0.],
  ----- 
  translation: [0.       0.10915  0.906409]
), LieGroupISE3q(
  rotation: [1. 0. 0. 0.],
  ----- 
  translation: [0.       0.10915  1.001059]
), LieGroupISE3q(
  rotation: [0.70710678 0.         0.         0.70710678],
  ----- 
  translation: [0.       0.19145  1.001059]
), LieGroupISE3q(
  rotation: [ 1.79489651e-09  0.00000000e+00  0.00000000e+00 -1.00000000e+00],
  ----- 
  translation: [0. 0. 0.]
), LieGroupISE3q(
  rotation: [ 0.70710678 -0.70710678  0.          0.        ],
  ----- 
  translation: [0.       0.19145  1.001059]
), LieGroupISE3q(
  rotation: [1 0 0 0],
  ----- 
  translation: [0. 0. 0.]
)]