README.md

Demo Setup Guide

Quick Start Demo

1. Basic Walking Demo

# Run the basic walking demonstration
python src/test_walking_controller.py

This demo shows:

• Initial stabilization
• Force distribution
• Walking pattern execution

2. Visualization Options

GUI Mode

# In walking_controller_fixed.py
use_gui = True  # Enable visual simulation

Debug Visualization

# Enable force vectors
p.addUserDebugLine(...)

# Enable COM trajectory
p.addUserDebugPoints(...)

Demo Scenarios

1. Stable Standing Demo

python src/test_stable_pose.py

Demonstrates:

• Force distribution
• COM adjustment
• Stability maintenance

2. Walking Pattern Demo

python src/implement_walking.py

Shows:

• Walking pattern generation
• Smooth transitions
• Force-aware control

3. Force Analysis Demo

python src/force_test.py

Visualizes:

• Ground contact forces
• Force distribution
• Center of pressure

Parameter Adjustment

1. Walking Parameters

# In walking_controller_fixed.py
startup_time = 2.0    # Longer for smoother start
cycle_time = 1.2     # Slower for stability
step_height = 0.04   # Lower for safety
step_length = 0.08   # Shorter steps

2. Force Parameters

target_ratio = 0.85    # Force distribution target
min_total_force = 180  # Minimum safe force

3. Stability Parameters

max_pitch = 5.0        # Maximum pitch deviation
force_timeout = 10.0   # Force calculation timeout

Demo Configurations

1. Basic Configuration

CONFIG = {
    'use_gui': True,
    'debug_lines': True,
    'force_display': True
}

2. Performance Configuration

CONFIG = {
    'use_gui': False,
    'time_step': 1/240,
    'max_force': 500
}

Running Demonstrations

1. Preparation

# Ensure environment is ready
python src/version_check.py

# Verify URDF loading
python src/debug_contact.py

2. Basic Walking Demo

# Run with default parameters
python src/test_walking_controller.py

# Expected output:
# - Force ratio: ~0.800
# - Total force: ~294.3N
# - Pitch: ~0.0°

3. Advanced Demonstrations

Force Distribution Demo

python src/force_analysis.py --display_forces

Walking Pattern Demo

python src/implement_walking.py --debug_view

Troubleshooting Demos

1. Common Issues

Zero Forces

• Check ground plane configuration
• Verify collision geometries
• Adjust initial pose

Unstable Walking

• Reduce step length
• Increase cycle time
• Adjust force parameters

2. Debug Tools

Force Visualization

python src/debug_contact.py --show_forces

State Monitor

python src/test_walking_controller.py --verbose

Demo Results

1. Expected Metrics

• Force ratio: 0.75-0.95
• Total force: >180N
• Pitch deviation: <5°

2. Performance Indicators

• Smooth transitions
• Stable walking
• Even force distribution

Safety Guidelines

1. Operating Limits

• Maximum step length: 0.1m
• Maximum step height: 0.05m
• Maximum velocity: 0.5m/s

2. Emergency Procedures

• Emergency stop: Ctrl+C
• Reset pose: 'R' key
• Force recalibration: 'F' key