- Made it into a GYM Environment.
- Added a Larger Plane
- Correct the Motor Torque Outputs
- Adjusted the Damping and Stiffness factor of the Bot
- Added Transformation matrix for Easier SIM2REAL deployment.
- General Stability of the bot improved and resembles much more closer to the real bot.
- Modeled using STL files.
- Hexapod Model with Basic Functionality and Python Interface
- Install following packages and edit bashrc
sudo apt-get install -y libglew-dev libosmesa6-dev patchelf
conda install -c anaconda patchelf
echo 'export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so' >> ~/.bashrc
source ~/.bashrc
- Obtain a 30-day free trial on the MuJoCo website or free license if you are a student. The license key will arrive in an email with your username and password.
- Download the MuJoCo version 2.0 binaries for Linux or OSX.
- Unzip the downloaded
mujoco200
directory into~/.mujoco/mujoco200
, and place your license key (themjkey.txt
file from your email) at~/.mujoco/mjkey.txt
.
-
Install mujoco-py
pip install -U 'mujoco-py<2.1,>=2.0'
-
Clone this repository
cd ~/.mujoco/mujoco200/
git clone https://github.com/aswinkumar1999/iBot-Hexapod_RL.git
mv iBot-Hexapod_RL/* .
To test if everything works
cd ~/.mujoco/mujoco200/Hexapod_V3
python hexapod_triple_gait.py
It should open up a window, with the Hexapod walking using Triple Gait... Check out the code for all the class implementations..