Pybullet simulation package for Digit robot.
This digit simulation can perform both path planning and arm motion planning using Caelan Garrett's pybullet_planning package. It also uses IKFast as the forward and inverse kinematics solver for Digit's arms.
In my bid to skirt Digit's tedious bipedal locomotion trouble, I made the joints in Digit's legs fixed joints and mounted it on a hoverboard for good measure.
It is recommended that you install this package in a conda environment. Here's how to create one: Create a conda environment. Python3.6 is recommended.
To install dependencies,
-
Clone this repo
$ git clone https://github.com/alphonsusadubredu/digit_sim.git -
Install dependencies
$ pip install -r requirements.txt
To run navigation example
$ cd examples
$ python navigation_example.py
Digit moving in 'circles'
To run manipulation example
$ cd examples
$ python manipulation_example.py
Digit picking up a 'coke' can
