This repository contains an environment for the first mini-project.

Recommend using a virtualenv (or conda) with python3.6 or higher. After installing virtualenv with pip, this can be done as follows:

virtualenv {leg_env, or choose another name venv_name} --python=python3

To activate the virtualenv:

source {PATH_TO_VENV}/bin/activate

Your command prompt should now look like:

(venv_name) user@pc:path$

The repository depends on recent versions of pybullet, numpy, etc. as described on moodle.

install qp solver library based on the follwoing link: https://qpsolvers.github.io/qpsolvers/installation.html

Fro example for the Python 3.8.10 (in th UBUNTU 20.04) the following command works: pip install qpsolvers

For testing that it installed properly, run the following code: python qp.py

You sould see the following output: QP solution: x = [ 0.3076548 -0.69232615 1.38448776]

• The PyBullet Quickstart Guide is the current up-to-date documentation for interfacing with the simulation.

• First activate the python virtual environment.
• Run jupyter notebook and open the DCM-Locomotion.ipynb