Masses and Inertias of the URDF-Model are still not correct.
There is also a Blender-File included which i used to create the STLs for the simulation. Of course you could also do some nice renderings with it! :)
This example can be found in the Repository. You need a GamePad for this to work:
pip3 install numpy pip3 install pybullet pip3 install inputs ...TODO: provide setup.py cd Core/ python3 example_automatic_gait.py
Quickstart for ROS
There is also a first ROSification of SpotMicroAI.
First of all install ROS. I use Melodic, but it should work with Kinetic, too. I will not go into detail on how to install ROS because there are many good Tutorials out there.
When finished installing ROS:
cd ~/catkin_ws/src git clone https://github.com/FlorianWilk/SpotMicroAI.git cd .. catkin_make source ./devel/setup.bash roslaunch spotmicroai showmodel.launch
This will show up RVIZ with the Model of SpotMicroAI.
In order to be able to move the Robot or even make it walk, we need something which tells us what servo-angles will be needed for a Leg to reach position XYZ. This is what InverseKinematics does. We know all the constraints, the length of the legs, how the joints rotate and where they are positioned.