Simulation system for humanoid walking with segmented foot
It based on python 3.6, Boost 1.66, dart v6.1.2. (python 2.7 is supported also, but will be unsupported soon.)
-
just make!
make install_dart_ubuntu make install_dependencies make -
Run main_MomentumProject_working.py in MomentumProject/working_example
cd MomentumProject/working_example python main_MomentumProject_working.py
first, install brew.
in OSX terminal,
brew update
brew install python3
brew install cmake fltk suite-sparse
after make virtual environment with system packages and activate virtuanenv,
pip install --upgrade pip setuptools
pip install -r requirements.txt
setup pyfltk (google and download pyfltk-1.*_py3.tar.gz)
in python/fltk\_wrap.cpp,
add void in front of free\_color
python setup.py build
python setup.py install
for dart setup,
brew install boost
brew install boost-python3
brew install bullet eigen assimp flann libccd fcl open-scene-graph nlopt ipopt tinyxml tinyxml2 ros/deps/urdfdom doxygen
git clone https://github.com/dartsim/dart
cd dart;git checkout tags/v6.1.2;mkdir build
copy FindBoost.cmake to dart/cmake
in CMakeLists.txt,
ENABLE_OPENMP to OFF
cd build;cmake ..;make -j;make install
for pydart setup,
make install_dependencies_mac
make