Starting walking motion

OpenQuadruped / spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

https://moribots.github.io/project/spot-mini-mini

MIT License

800 stars 171 forks source link

Starting walking motion #16

Closed sayantanauddy closed 3 years ago

sayantanauddy commented 3 years ago

First of all, thank you for providing this very nice repository! I have a question about the simulation:

After cloning the repo and installing the dependencies, I am able to start the simulation using ./env_tester.py. Using the provided sliders, I am able to change the roll, pitch, yaw etc. and the robot shows the changes in the simulation. However, I am not able to start the walking motion. Is there some specific step that I need to perform to start the walk?

moribots commented 3 years ago

You can change Step Length to walk forward or backward. While this value is non-zero, you can change Lateral Fraction to strafe left and right, and Yaw Rate to twist.