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Simulation Instructions

The Gazebo simulator is an industry standard simulator for robots. The robot shape/size is specified via .dae files and those robots can then navigate a defined digital world. The simulation framework is useful for prototyping, debugging, and reinforcement learning, among many other uses.

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MacOS (Gazebo Harmonic)

./gazebo/macOS.sh
The script also checks and installs Gazebo Harmonic https://gazebosim.org/docs/harmonic/getstarted/ if not already installed. If this is your first time installing Gazebo, grab a coffee, since this will take a while (1/2 hour or more). This will open a gazebo room with a bathtub and chairs. Now, add your robot!

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Ubuntu (Gazebo Classic)

./gazebo/ubuntu.sh
For now, ROS2 is required for the simulation to interact with OM1 in Gazebo Classic, check https://docs.ros.org/en/humble/Installation.html for installation instructions. ffmpeg is required for streaming the simulated video feed to OM1. If your system doesn’t have ffmpeg, you should install it using sudo apt-get install ffmpeg. Note: The simulated camera feed is streamed to a virtual video device at /dev/video10, thus requiring the camera_index in the VLM config to be 10. Modify as needed if the virtual camera needs to be reordered or if OM1 needs to read from another camera. Note: It is also possible to run the Gazebo Harmonic simulation on Ubuntu.

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Start OM1

Refer to the Installation Guide for detailed instructions. 
uv run src/run.py quadruped_sim
Finally, start the simulation by clicking the “play” (>) button in the Gazebo simulator. Note: Remember to set the correct API key in the config/quadruped_sim.json5 file or in your .env.