snake_pipe (ROS-agnostic)

This repo contains:

• snake_bullet: PyBullet simulation backend
• snake_control: controllers, gait library, and joystick teleop
• snakelib_description: URDF + meshes

Run the simulator

From the repo root:

PYTHONPATH=snake_bullet/src:snake_control/src python snake_bullet/run_sim.py

Configuration is in:

• snake_bullet/param/sim_params.yaml

In that YAML you can:

• choose the controller (runner.controller.type)
• enable/disable joystick teleop (runner.teleop.enable)
• configure terminal printing (runner.print.*)

T-junction demo (no teleop)

This update adds standalone T-junction navigation gaits:

• t_junction (blends windowed rolling-helix → spiraling)
• windowed_rolling_helix
• spiraling

Run the built-in demo config (junction world, teleop disabled):

PYTHONPATH=snake_bullet/src:snake_control/src python snake_bullet/run_sim.py --cfg snake_bullet/param/sim_params_tjunction.yaml

To try components, change runner.controller.gait in the YAML to: windowed_rolling_helix or spiraling.