README.md
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# 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](https://ko-fi.com/minimithi). 💕
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||<img src="https://mithi.github.io/robotics-blog/v2-hexapod-1.gif" width="550"/>|<img src="https://mithi.github.io/robotics-blog/v2-hexapod-2.gif" width="500"/>||
# Announcement
You might be interested in checking out my [rewrite in Javascript](http://github.com/mithi/hexapod), 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](https://github.com/mithi/hexapod-kinematics-library). There is also [a "fork" modified where you can use the app to control a physical hexapod robot](https://github.com/mithi/hexapod-irl) as you can see in the gif below.
<p align="center">
<img src="https://user-images.githubusercontent.com/1670421/103467765-451a2180-4d8d-11eb-8f94-1a23201595b9.gif" alt="drawing" />
</p>
# 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
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## Requirements
- [x] Python 3.8.1
- [x] Plotly Dash 1.18.1
- [x] Plotly Dash Daq 0.5.0
- [x] Numpy 1.19.5
- [x] See also [./requirements.txt](./requirements.txt)
## Run
```bash
$ python index.py
Running on http://127.0.0.1:8050/
```
- Modify default settings with [./settings.py](./settings.py)
- Dark Mode is the default - modify page styles with [./style_settings.py](./style_settings.py)
## Screenshots
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## More Information
Check the [Wiki](https://github.com/mithi/hexapod-robot-simulator/wiki/Notes) for more additional information
## 🤗 Contributors
- [@mithi](https://github.com/mithi/)
- [@philippeitis](https://github.com/philippeitis/)
- [@mikong](https://github.com/mikong/)
- [@guilyx](https://github.com/guilyx)
- [@markkulube](https://github.com/markkulube)
