Quata

QUAdruped robot with delTA.

quata1.0 is a one-legged robot to test

How to start Simulation?

1. make the Quata folder into a catkin workspace's src path, like ~/quata_ws/src/Quata
2. build the workspace and source

# In ~/quata_ws path
catkin build
souce devel/setup.bash  #Or setup.zsh if you use zsh

3. run simulation

# In ~/quata_ws/src/Quata/mujoco_sim
python3 quata_sim.py
# rosrun mujoco_sim quata_sim.py doesn't work, you can fix this

4. simulation commands. space button is used to pause and resume simulation backspace button is used to restart the simulation You can add you own command by yourself.