This is the project I did to fulfill the requirements for my Bachelor's degree in Combined Honours Computer Science and Physics at the University of British Columbia.
This project requires PyBullet which can be installed in the following ways according to which Python version you are running.
For Python 2.x
(sudo) pip install PyBullet
For Python 3.x
pip3 install PyBullet
PyBullet's quickstart guide can be found here. Note that since PyBullet is a python wrapper for a C++ library some windows users might find that their compilers need to be updated before PyBullet can be installed.
To run the project:
python -i 2D_biped_using_SIMBICON.py
A GUI should pop up where you will see the legs.xml specified body fall into the world and begin walking. The -i allows you to interact with
the legs and the GUI once the script starts running. If you would like to play around with the simulation try changing the target angles and PD
controller constants to see what they do! A full disscussion of the theory behind the project can be found here. The PDF features embedded videos which require a newer version of Adobe Acrobat to view. The embedded videos are Flash based, as of December 31, 2020 Flash will be phased out. The original mp4 videos have therefore been added to the repository for viewing after they are no longer viewable in the PDF.