The electronical schematic:

This is a fork of the OpenQuadruped repository.

Important changes are:

The the use of the original yellow SpotMicroAI configuration, with the improved motor parameters from OpenQuadruped.
The Soft Actor-Critic (SAC) agent implementation is removed of bugs and put in the same training and test setup as the ARS agent.
The real robot is now integrated with the MPU5060 IMU. Data is collected through Ros.
Motor control of the real robot is performed using the PCA9685 PWM drivers
The robot is controlled with the Jetson Nano

Furthere code explanation and clean up will follow

Name		Name	Last commit message	Last commit date
Latest commit History 687 Commits
.github/ISSUE_TEMPLATE		.github/ISSUE_TEMPLATE
.vscode		.vscode
best rl models		best rl models
docs		docs
mini_ros		mini_ros
mpu_6050_driver		mpu_6050_driver
spot_bullet		spot_bullet
spot_real		spot_real
spotmicro		spotmicro
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
CODE_OF_CONDUCT.md		CODE_OF_CONDUCT.md
CONTRIBUTING.md		CONTRIBUTING.md
LICENSE		LICENSE
README.md		README.md
README_old.md		README_old.md
env_spotmicro.yml		env_spotmicro.yml
gh-md-toc		gh-md-toc
readthedocs.yml		readthedocs.yml
spot_best.zip		spot_best.zip
toc.md		toc.md