triped-robot / triped_gym Goto Github PK
View Code? Open in Web Editor NEWA pybullet simulation of the TriPed robot
A pybullet simulation of the TriPed robot
A gym interface should be implemented for possible training of agents
A full Triped should be added with support for torque control of joints
Add Ros interfaces of joint Level control and leg level control
This should use the actuated state/ virtual state and foot position interface
This should allow for later switching the simplified triped with a full triped simulation
It should be possible to set the actuated state using trips internal conversion
without a direct measure of the change a agent can only evaluate static configurations.
The acceleration and velocity of the base should thus also be observations.
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