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Sumo ROS Gazebo Simulation

I’ve created a Gazebo simulation of the Parrot Jumping Sumo attempting to make it match a real sumo. The project is on github at:

This is a side by side video of movements of a real sumo being recorded with ROSBAG and then being fed into the Gazebo simulation on the right:

My goal of creating the simulation is to use reinforcement learning to teach a sumo to do things like climb stairs in Gazebo (similar to reinforcement learning in with a turtlebot) and then apply it to a real Sumo and hopefully get a real sumo climbing stairs. Unfortunately my jumping mechanism on the Sumo stopped working so will have to teach the sumo to do something other than climb stairs.