A collection of Python scripts used to benchmark three kind of locomotion models:
- Full dynamics formulation;
- Centroidal formulation;
- Kinodynamics formulation.
The Python scripts launch a Pybullet simulation of the humanoid robot Talos performing various walking motions on flat ground and stairs.
- Aligator devel branch
- proxsuite-nlp >= 0.6.3
- Eigen3 >= 3.3.7
- Boost >= 1.71.0
- Pybullet >= 3.25
- example-robot-data >= 4.1.0
- Pinocchio >= 2.9.1
- eigenpy>=3.4.0 (Python bindings)
- Justin Carpentier (Inria): project instructor
- Ewen Dantec (Inria): Manager of the project