Implement "real" environments

erdnaxe / kraby

Documentation and ressources of Kraby, an open-source hexapod robot

https://kraby.readthedocs.io

MIT License

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Open erdnaxe opened 4 years ago

erdnaxe commented 4 years ago

gym_kraby:HexapodRealEnv-v0 should command the full real robot and gym_kraby:OneLegRealEnv-v0 should command only one leg of the robot.

To make these environments work, there is a need to

[x] Implement and test velocity command on Herkulex servomotors,
[x] Set all configuration parameters on Herkulex (such as torque limit),
[ ] Check servomotor calibration values,
[ ] Implement Magwick IMU fusion algorithm to get the orientation of the full robot.

erdnaxe commented 4 years ago

Motor "move()" function sometimes does not send properly the message. Need more investigation.