Biped (Pybullet)

Setup

To install Anaconda follow the instructions in this webpage

Create a conda environment for the PyBullet tutorial:

$ conda create --name biped-pyb

Switch to the newly create environment (you will notice the name of the environment on the command line in the extreme left):

$ conda activate biped-pyb

Then, clone the repository on your system:

git clone https://github.com/tayalmanan28/Biped-Pybullet.git

Install the following required packages:

pip install -r requirements.txt

To check the installation launch:

$ python

Inside the python environment import the pybullet and matplotlib libraries:

>> import pybullet
>> import matplotlib

If this command executes without any error then the installation is successful.

The Biped can walk, stand, squat, jump with Twist, jump without Twist and Twist its torso

So, to get the bot to Walk give the following command:

python3 main.py --action='walk'

To get the bot to do Squats give the following command:

python3 main.py --action='squat'

To get the bot to Jump with Torso Twist give the following command:

python3 main.py --action='jump_w_Twist'

To get the bot to Jump without Torso Twist give the following command:

python3 main.py --action='jump_wo_Twist'

To get the bot to do Torso Twist give the following command:

python3 main.py --action='torsoTwist'

To get the bot to just Stand at one place give the following command:

python3 main.py --action='stand'