quadruped

Design and simulation of a quadruped from a passive dynamic walker

Getting started

I use pipenv for library management, but drake doesn't support pip.

To use drake with pip we first need to follow the instructions here

# Setup drake, and run prerequisites.
curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-xenial.tar.gz
mkdir -p .venv
tar -xvzf drake.tar.gz -C .venv --strip-components=1
# - You may need `sudo` here.
.venv/share/drake/setup/install_prereqs

# Setup a virtualenv over the drake install.
python2 -m virtualenv -p python2 .venv --system-site-packages

Then we run export PIPENV_VENV_IN_PROJECT="enabled" in order to make our virtual environment sit inside our project folder.

Then cd to the project directory and run:

pipenv install

Make sure drake is there with python -c 'import pydrake; print(pydrake.__file__)'

For linting we'll use pylint.

For code formatting we'll use black. Which is python3 only library so we need to install python 3, install black with pip3 and then set "python.formatting.blackPath" to a pre-existing installation of Black." like here