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:
PyBullet
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:
PyBullet
Yaw in Place:
PyBullet