Legged Robot

This file provides step-by-step instructions on setting up and running the Talos robot.

Walking

1. Open the terminal in this src folder(e.g. ~/src). Install venv, pydrake and neccessay dependencies.

   source /opt/ros/noetic/setup.bash
   python3 -m venv env
   env/bin/pip install --upgrade pip
   env/bin/pip install drake
   source env/bin/activate
   pip install rospkg
   pip install pybullet
   sudo apt install robotpkg-py3*-ndcurves -y

2. Make sure you are in the venv and run walking.py

   ./env/bin/python walking.py

Prerequisites

Before running the code, make sure you have the following dependencies installed:

1. Pinocchio

2. PyBullet

   pip install pybullet

3. TSID

   sudo apt install robotpkg-py3*-tsid

build

To build the project, follow these steps: Navigate to the workspace.Run the following commands:

catkin_make
source ./devel/setup.bash

launch

Standing

rosrun bullet_sims t4_01_standing.py

One Leg Stand

rosrun bullet_sims t4_02_one_leg_stand.py

Squatting

rosrun bullet_sims t4_03_squating.py