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fsstudio-team / ZeroSimROSUnity

Robotic simulation in Unity with ROS integration.
https://roboticsimulationservices.com/
MIT License
176 stars 21 forks source link

SPOT robot support #30

Open manikjslb opened 2 years ago

manikjslb commented 2 years ago

I observe that in ZeroSim you have provided a test scene for spot robot, are there any supporting ros tutorials for that? has anyone here have used the SPOT test scene?

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micahpearlman commented 2 years ago

Unfortunately we started working on a Spot robot but never completed it. What you see is what we have.

manikjslb commented 2 years ago

@micahpearlman thanks for response.

I see there's a ros controller script for spot, do you know if it works? can you give me some general directions on what else would I need to make this work? do we need to implement any IK or something?

micahpearlman commented 2 years ago

Nothing really works for spot, it was a very small effort that didn’t get anywhere. Definitely the IK thing is going to be tricky and is what ultimately made us decide it was too much effort. It can be done for sure. Unfortunately I don’t have a lot more info to guide you

manikjslb commented 2 years ago

@micahpearlman have you looked into this? ---> https://www.youtube.com/watch?v=3MYeBxFVBHI

i tried this, but it needs improvements, for example, spot moves in on direction nicely but in other direction it doesn't move.

this could be a starting point if someone want to implement/improve it.

micahpearlman commented 2 years ago

Oh that’s cool! It’s all super doable but the amount of work we would have to do for free was just too much — particularly the IK on uneven terrain was really tricky. We would be happy to do it as a paid contract!