Work in progress...
Onshape to Robot is used to generate robot simulation URDF files based on the concept assembly CAD.
# generate urdf
sudo apt install openscad meshlab # install system dependencies
pip install onshape-to-robot # install python application
# generate and output to urdf directory based on urdf/config.json
onshape-to-robot urdf
Run the following commands (or the equivalent on your system) to setup:
# install system dependencies
sudo apt install cmake gcc python3
# Install pytohn dependencies:
pip3 install -r requirements.txt
# Build libslab
mkdir libslab/build
(cd libslab/build && cmake .. && make)
To start, execute ./sim.py
. A connected USB gamepad is required.
The controls are:
- Home button resets simulation.
- Select button recenters camera.
- Left stick controls wheels.
- X-axis controls turning velocity.
- Y-axis controls forward velocity.
- D-pad scaled by L-trigger maps to left stick controls.
- Right stick controls legs.
- X-axis controls rotation of both legs in the same direction.
- Y-axis controls rotation of both legs in different directions (when not balancing).
- Y-axis controls body incline (when balancing).
- Diagonal axis controls individual legs.
- Buttons scaled by R-trigger maps to right stick controls.
- Holding R button maps right stick to leg position presets.
- Up maps U preset.
- Down maps to inverted U preset.
- Left maps to fully unfolded preset.
- Right maps to fully folded preset.
- Holding L button disables balance controller.
- Balance controller automatically engages when one pair of legs are detected to be off the ground.