This file provides step-by-step instructions on setting up and running the Talos robot.
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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
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Make sure you are in the venv and run walking.py
./env/bin/python walking.py
Before running the code, make sure you have the following dependencies installed:
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PyBullet
pip install pybullet
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TSID
sudo apt install robotpkg-py3*-tsid
To build the project, follow these steps: Navigate to the workspace.Run the following commands:
catkin_make
source ./devel/setup.bash
rosrun bullet_sims t4_01_standing.py
rosrun bullet_sims t4_02_one_leg_stand.py
rosrun bullet_sims t4_03_squating.py