solo-pybullet

Simulation and Controller code for Solo Quadruped

This repository offers an environment to simulate different controllers on the Quadruped robot Solo.

You can implement your controller on the controller.py file and call your control function in the main program main.py by replacing the c(...) function in the loop.

Installation

To install Pinocchio, the urdf and meshes of the Solo Quadruped, the Gepetto Viewer and their python bindings:

curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $(lsb_release -cs) robotpkg
deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg
EOF
sudo apt update -qqy && sudo apt install -qqy robotpkg-py3\*-{pinocchio,example-robot-data,qt4-gepetto-viewer-corba}

To install PyBullet: pip3 install --user pybullet

How to start the simulation

launch gepetto-gui, then python3 -m solo_pybullet