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Deployment Guide

Environment Setup

System Requirements

  • Ubuntu 22.04 or later
  • Python 3.12
  • GPU support (optional, for improved performance)

Installation Steps

  1. Set up Python Environment

    # Install pyenv for Python version management
curl https://pyenv.run | bash

# Add to ~/.bashrc
echo 'export PATH="$HOME/.pyenv/bin:$PATH"' >> ~/.bashrc
echo 'eval "$(pyenv init -)"' >> ~/.bashrc
echo 'eval "$(pyenv virtualenv-init -)"' >> ~/.bashrc

# Install Python 3.12
pyenv install 3.12.0
pyenv global 3.12.0

  2. Clone Repository

    git clone <repository-url>
cd robotics_workspace

  3. Install Dependencies

    pip install numpy>=2.0.0
pip install pybullet

Configuration

  1. PyBullet Configuration

    • GUI Mode (default): Set use_gui=True in configuration
    • Headless Mode: Set use_gui=False for environments without display

  2. Robot Model Configuration

    • URDF file location: src/models/simple_biped_stable.urdf
    • Default parameters in walking_controller_fixed.py: 
      startup_time = 2.0
cycle_time = 1.2
step_height = 0.04
step_length = 0.08

Performance Tuning

  1. Force Distribution

    • Target force ratio: 0.85
    • Minimum total force: 180N
    • Adjust force_scale and transition_scale for smoother transitions

  2. Stability Parameters

    • Maximum pitch deviation: ±5°
    • Force balance timeout: 10 seconds
    • Emergency stop conditions in walking_controller_fixed.py

Troubleshooting

  1. Common Issues

    a. Zero Ground Contact Forces

    • Check URDF collision geometries
    • Verify initial pose configuration
    • Ensure proper ground plane setup

    b. Force Distribution Issues

    • Adjust COM position parameters
    • Check force feedback gains
    • Verify joint angle limits

    c. Walking Stability Issues

    • Reduce step length/height
    • Increase stabilization time
    • Adjust PID gains

  2. Debugging Tools

    • Use debug_contact.py for force visualization
    • Enable PyBullet debug lines with p.addUserDebugLine()
    • Monitor force ratios with force_test.py

Health Monitoring

  1. Key Metrics

    • Force distribution ratio
    • Total ground contact force
    • Pitch angle
    • Joint positions and velocities

  2. Logging

    • Default log location: logs/
    • CSV format for force data
    • Performance metrics tracking

Backup and Recovery

  1. Configuration Backup

    • Save custom parameters
    • Backup URDF modifications
    • Store PID gain settings

  2. Emergency Recovery

    • Emergency stop procedure
    • Reset to stable pose
    • Force recalibration

Support

For technical support or bug reports, please:

  1. Check the troubleshooting guide
  2. Review debug logs
  3. Submit detailed issue reports with:
    • System configuration
    • Error messages
    • Reproduction steps