Hexapod Simulation

This repository includes the code to simulate the Hexapod. It includes code to visualize and interact with the robot in Viser and code to simulate it in a PyBullet environment.

For a complete overview of the project, refer to the main Hexapod repository.

🛠️ Setup

Before you start, ensure mamba is properly installed on the machine you are using for the simulation.

1. Clone the repository:

    git clone --recursive https://github.com/ggldnl/Hexapod-Simulation.git

   The Hexapod-Controller and Hexapod-Hardware repositories are configured as submodules and are automatically downloaded. If for some reason you need to update the submodules in the future:

   # Update the submodules if something changes in the future
   git submodule update --recursive --remote

2. Create a mamba environment:

   cd Hexapod-Simulation
   mamba env create -f environment.yml
   mamba activate hexapod-sim

   The Hexapod-Controller code will be automatically installed as a package. After this, from within the hexapod-sim mamba environment, you will be able to do something like this:

   from controller import HexapodController

🚀 Delpoy

• viser/main.py will open a Viser-based Hexapod demo, showing the Hexapod moving forward and performing some adjustments along the way (body height, yaw, speed, ...).

  python simulation/viser/main.py

• bullet/main.py will open a PyBullet Hexapod simulation, showing how the robot behaves when physics is involved. I used the actual stall torque the servos are rated for to simulate the motors.

  python simulation/bullet/main.py

🤝 Contribution

Feel free to contribute by opening issues or submitting pull requests. For further information, check out the main Hexapod repository. Give a ⭐️ to this project if you liked the content.