Quadruped Simulation and Control
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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.
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.
config/quadruped_sim.json5
file or in your .env
.