Adds Simulator from OpenQuadruped/spot_mini_mini

mock/simulator/mini_ros/config/control.yaml

@@ -0,0 +1,34 @@
+spot:
+  joint_states_controller:
+      type: joint_state_controller/JointStateController
+      publish_rate: 50
+
+  joint_group_position_controller:
+      type: effort_controllers/JointTrajectoryController
+      joints:
+          - motor_front_left_hip
+          - motor_front_left_upper_leg
+          - motor_front_left_lower_leg
+          - motor_front_right_hip
+          - motor_front_right_upper_leg
+          - motor_front_right_lower_leg
+          - motor_back_left_hip
+          - motor_back_left_upper_leg
+          - motor_back_left_lower_leg
+          - motor_back_right_hip
+          - motor_back_right_upper_leg
+          - motor_back_right_lower_leg
+
+      gains:
+        motor_front_left_hip        : {p: 180, d: 0.9, i: 20}
+        motor_front_left_upper_leg  : {p: 180, d: 0.9, i: 20}
+        motor_front_left_lower_leg  : {p: 180, d: 0.9, i: 20}
+        motor_front_right_hip       : {p: 180, d: 0.9, i: 20}
+        motor_front_right_upper_leg : {p: 180, d: 0.9, i: 20}
+        motor_front_right_lower_leg : {p: 180, d: 0.9, i: 20}
+        motor_back_left_hip         : {p: 180, d: 0.9, i: 20}
+        motor_back_left_upper_leg   : {p: 180, d: 0.9, i: 20}
+        motor_back_left_lower_leg   : {p: 180, d: 0.9, i: 20}
+        motor_back_right_hip        : {p: 180, d: 0.9, i: 20}
+        motor_back_right_upper_leg  : {p: 180, d: 0.9, i: 20}
+        motor_back_right_lower_leg  : {p: 180, d: 0.9, i: 20}

mock/simulator/mini_ros/config/joy_params.yaml

@@ -0,0 +1,12 @@
+# Right Joystick (Push U/D L/R)
+STEPLENGTH_SCALE: 0.05
+# Left Joystick (Push U/D)
+Z_SCALE_CTRL: 0.15
+# Right Joystick (Push U/D L/R) | Left Joystick (Push L/R)
+RPY_SCALE: 0.785
+# Lower Bumpers (Step Velocity [Left Lowers | Right Raises])
+SV_SCALE: 0.05
+# Arrow Pad (U/D for Clearance Height | L/R for Penetration Depth)
+CHPD_SCALE: 0.0005
+# Left Joystick (L/R)
+YAW_SCALE: 1.25

mock/simulator/mini_ros/config/policy_params.yaml

@@ -0,0 +1,14 @@
+# AGENT PARAMS - SCALING and FILTERING
+# Clearance Height and Penetration Depth
+CD_SCALE: 0.05
+# Step Length and Velocity
+SLV_SCALE: 0.05
+# Residuals
+RESIDUALS_SCALE: 0.015
+# Body Height Modulation
+Z_SCALE: 0.035
+# Exponential Filter Amplitude
+alpha: 0.7
+# Added this to avoid filtering residuals
+# -1 for all
+actions_to_filter: 14

mock/simulator/mini_ros/config/spot_params.yaml

@@ -0,0 +1,39 @@
+# MEASURE
+# COM to Shoulder
+shoulder_length: 0.055
+# Shoulder to Elbow
+elbow_length: 0.10652
+# Elbow to Wrist
+wrist_length: 0.145
+# Forward Hip Separation
+hip_x: 0.23
+# Lateral Hip Separation
+hip_y: 0.075
+
+# ADJUSTABLE
+# Stance Length
+foot_x: 0.23
+# Stance Width
+foot_y: 0.185
+# Stance Height
+height: 0.20
+# Adjust for balanced walk
+com_offset: 0.0
+
+# Time Step
+dt: 0.001
+
+# Swing Period (lower is faster)
+Tswing: 0.2
+SwingPeriod_LIMITS: [0.1, 0.3]
+
+# Step Velocity (Using very low value as my main form of speed control is swing period)
+BaseStepVelocity: 0.001
+
+# Foot Clearance Height
+BaseClearanceHeight: 0.035
+ClearanceHeight_LIMITS: [0.0, 0.04]
+
+# Foot Penetration Depth
+BasePenetrationDepth: 0.003
+PenetrationDepth_LIMITS: [0.0, 0.02]