mithi/hexapod-robot-simulator：从第一性原理构建的六足机器人模拟器

mithi

888

123 10

MIT License

项目介绍

mithi/hexapod-robot-simulator 是一个托管在 GitHub 上的开源项目，主要使用 Python 编写，采用 MIT License 许可证，目前获得 888 个 Star、123 次 Fork。

仓库全名: mithi/hexapod-robot-simulator
开源许可证: MIT License
Star 数: 888
Fork 数: 123
未关闭 Issue: 10

README 摘要

Mithi's Hexapod Robot Simulator A bare minimum browser-based hexapod robot simulator built from first principles 🕷️ If you like this project, consider buying me a few ☕ cups of coffee. 💕 Announcement You might be interested in checking out my rewrite in Javascript, live at: https://hexapod.netlify.app/ , which is like 10000000x faster. If you'd like to build you're own user interface with Node, you can download…

完整内容见 GitHub 原始 README 或本页。

常见问题

hexapod-robot-simulator 用什么语言开发？

主要使用 Python 编写，采用 MIT License 许可证，目前有 888 个 Star。

hexapod-robot-simulator 可以免费商用吗？

如何获取 hexapod-robot-simulator 的源码？

可以直接克隆仓库：git clone https://github.com/mithi/hexapod-robot-simulator.git，默认分支为 master；安装与运行步骤见仓库 README。

hexapod-robot-simulator 最近还在维护吗？

仓库最近一次更新为 1月1日，当前有 10 个未关闭 Issue；Star 数为 888，可作为社区活跃度的参考。

关于

GitHub 原始描述（英文）

A hexapod robot simulator built from first principles

描述取自 GitHub 官方 API，保持仓库作者书写的原文。

简要分析

热度分

1155

价值分

571

活跃状态

活跃

dash hacktoberfest hexapod inverse-kinematics kinematics plotly plotly-dash plotly-example plotly-python robot robotics simulator

GitHub

语言占比

CSS

Procfile

Python

Shell

Release

Bump versions, fix css paths2021年1月6日
Better user experience.2020年4月29日
More polished kinematics algorithm.2020年4月23日
Dark Mode!2020年4月17日
First pre-release!2020年4月10日

贡献者

README

Mithi’s Hexapod Robot Simulator

A bare minimum browser-based hexapod robot simulator built from first principles 🕷️
If you like this project, consider buying me a few ☕ cups of coffee. 💕

Announcement

You might be interested in checking out my rewrite in Javascript, live at: https://hexapod.netlify.app/ , which is like 10000000x faster. If you’d like to build you’re own user interface with Node, you can download the algorithm alone as a package in the npm registry: Hexapod Kinematics Library. There is also a “fork” modified where you can use the app to control a physical hexapod robot as you can see in the gif below.

drawing

Features

STATUS	FEATURE	DESCRIPTION
🎉	Forward Kinematics	Given the angles of each joint, what does the robot look like?
🎉	Inverse Kinematics	What are the angles of each joint to make the robot look the way I want? Is it even possible? Why or why not?
🎉	Uniform Movements	If all of the legs behaved the same way, how will the hexapod robot as a whole behave?
🎉	Customizability	Set the dimensions and shape of the robot’s body and legs. (6 parameters)
🎉	Usability	Control the camera view, pan, tilt, zoom, whatever.
🎉	Simplicity	Minimal dependencies. Depends solely on Numpy for calculations. Uses only Plotly Dash for plotting, Dash can be safely replaced if a better 3d plotting library is available.
❗	Stability Check (WIP)	If we pose the robot in a particular way, will it fall over?
❗	Fast	Okay, it’s not as fast as I wanted, but when run locally, it’s okay
❗	Bug-free	Fine, right now there’s still room for improvement
❗	Well-tested	Yeah, I need to compile test cases first

Preview

Requirements

Run

$ python index.py
Running on http://127.0.0.1:8050/

Modify default settings with ./settings.py
Dark Mode is the default - modify page styles with ./style_settings.py

Screenshots

More Information

Check the Wiki for more additional information

hexapod-robot-simulator