pyhexapod

Hexapod simulation in pybullet

Dependencies (use pip or your favorite package manager)

• python3
• pybullet
• numpy

Clone this repository and run :

git submodule update --init --recursive

How to use ?

Launch a simple simulation

Run :

python simulator.py

It will run a hexapod episode, the controller parameters have been designed by hand.

Create map elites maps

Run :

python simulator_map_elites.py

Launch a simple simulation with a damaged hexapod

In simulator.py use the damage = True option from eval_hexapod(ctrl,gui_eval = False,damage = False) It will load the urdf of the damaged hexapod (missing leg) in the urdf folder.