• Made it into a GYM Environment.

• Added a Larger Plane
• Correct the Motor Torque Outputs
• Adjusted the Damping and Stiffness factor of the Bot
• Added Transformation matrix for Easier SIM2REAL deployment.
• General Stability of the bot improved and resembles much more closer to the real bot.

• Modeled using STL files.
• Hexapod Model with Basic Functionality and Python Interface

• Install following packages and edit bashrc

sudo apt-get install -y libglew-dev libosmesa6-dev patchelf
conda install -c anaconda patchelf
echo 'export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so' >> ~/.bashrc
source ~/.bashrc

1. Obtain a 30-day free trial on the MuJoCo website or free license if you are a student. The license key will arrive in an email with your username and password.
2. Download the MuJoCo version 2.0 binaries for Linux or OSX.
3. Unzip the downloaded mujoco200 directory into ~/.mujoco/mujoco200, and place your license key (the mjkey.txt file from your email) at ~/.mujoco/mjkey.txt.

4. Install mujoco-py pip install -U 'mujoco-py<2.1,>=2.0'

5. Clone this repository

cd ~/.mujoco/mujoco200/
git clone https://github.com/aswinkumar1999/iBot-Hexapod_RL.git
mv iBot-Hexapod_RL/* .

To test if everything works

cd ~/.mujoco/mujoco200/Hexapod_V3
python hexapod_triple_gait.py

It should open up a window, with the Hexapod walking using Triple Gait... Check out the code for all the class implementations..