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:
https://github.com/forthtemple/rossumo-gazebo
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 GitHub - erlerobot/gym-gazebo: Refer to https://github.com/AcutronicRobotics/gym-gazebo2 for the new version 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.