Simulation Environment
========================
In order to test the software package in simulation environment, `WoLF <https://github.com/graiola/wolf-setup>`_  was used. This package provides whole-body controller, along with the robot description files and some interesting worlds for Boston Dynamics Spot robot, as well as several other famous quadruped robots.


.. image:: diagrams/inspection.png
  :width: 500
  :align: center
  :alt: inspection

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.. image:: diagrams/inspection2.png
  :width: 500
  :align: center
  :alt: inspection2


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Here is a preview from the simulation environemnt, while the uphill and downhill test are made to see the planner's performance.

.. raw:: html
  
  <iframe width="560" height="315" src="https://www.youtube.com/embed/IwhgQZQWK_k?si=v-vpeVvwBze_w1vo" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>