I'm happy to announce that my co-authors (Ian Abraham, Matthew L. Elwin, Todd D. Murphey) and I have just completed our paper: Dynamics and Domain Randomized Gait Modulation with...
ROSSerial Integration
Thanks to a tip from Juan Miguel Jimeno - creator of CHAMP, I decided to forego custom Serial messaging in favor or ROSSerial. As a result, the Teensy firmware is cleaner, more compact, and more modular. Note that I am using ROSSerial for ROS Melod...
I'm happy to announce that together with Adham Elarabawy, I have a completed a total mechanical redesign of SpotMicro. We call it OpenQuadruped! Check out the STEP files here!
 using env_tester.py. You may also use spot_ars.py and spot_ars_eval.py as a template for training and testing scripts respectively. Feel free to check out the various RL agent libraries (ars_lib, td3_lib, sac_lib, ppo_lib)for use, or add your own via Pull Request!
There is also a ROS...