This simulation is for simulating Mugatu.

(Legacy) Before doing anything, you'll need Ubuntu 22.04, python3, Drake (Dragon), gcc = 11, pip, python venv maker, jinja2, typeguard, empy, numpy<2, pandas>=2.2,matplotlib=3.8.4, scipy >=1.11. Install Ubuntu 22.04, python 3.10, python venv maker, gcc, jinja2, typeguard, empy, and Drake (Dragon) first.

Install in that order, run requirements.txt includes to get additional dependencies that you need (pip install -r requirements.txt)

Simulation (WiP)

To just view URDF, use python3 simulate.py. To run walker sim, use python3 simulate.py --walk.

Design Optimization

Install openscad using the listed submodule in \extern\openscad

To run NES with default args, use python3 NES.py after installing all dependencies.