simulation.md

Simulation

This section contains information on the most up-to-date simulation solutions.

Quickstart PyBullet

I have deployed a 12-point Bezier Curve gait to make Spot walk:

This example can be found in this repository. You can optionally use a Game Pad:

pip3 install numpy
pip3 install pybullet
pip3 install gym

cd spot_bullet/src

./env_tester.py

Optional Arguments

-h, --help          show this help message and exit
-hf, --HeightField  Use HeightField
-r, --DebugRack     Put Spot on an Elevated Rack
-p, --DebugPath     Draw Spot's Foot Path
-ay, --AutoYaw      Automatically Adjust Spot's Yaw

If you decide to use a controller, you can achieve some fairly fluid motions!

Changing Step Length:

Yaw in Place:

Kinematics

In this repository, there is a working IK solver for both Spot's legs and its body: