pjhae / Mujoco_walkingRobots

Mujoco_walkingRobots

Simple walking implementation using RL

URDF, xml : All links and joints are manually reverse engineered using assembly file from GRABCAD https://grabcad.com/library

0. Requirements

Installation : GYM, MUJOCO, stablebaselines3 + (Linux)

PATH : ~/python3.8/site-packages/gym/envs/

1. MiniCheetah

1.1. [Solidworks] re-assembly process :

1.2. [URDF] Hitbox design :

using basic shape (Box, cylinder, sphere..)

1.3. [MUJOCO,GYM,sb3] Training results :

you can see the code for specific MDP setting(S,A,R..) info

2. Hexapod

2.1. [Solidworks] re-assembly :

2.2. [URDF] Hitbox design :

2.3. [MUJOCO,GYM,sb3] Training results :

you can see the code for specific MDP setting(S,A,R..) info