Hey guys, I started this project a few weeks back but got distracted by other projects. Finally got a little time to get it running… It’s a hexapod simulator using the ODE engine:
Simulation:
youtube.com/watch?v=S6niJoLMvd8
Actual Hardware:
youtube.com/watch?v=CPE1I1kLMjQ
So I’m now able to model the mass, moment, motor torque, and physical dimensions of the hexapod. Movement scripts can be imported into the environment to simulate what the hexapod would be doing. I’ve also implemented collision detection so it can tell if legs will collide. I have a serial library implemented that allows the user to stream and/or upload the sequence to the hexapod. I’m going to add keyframes next and allow the user to move it leg by leg and take snapshots as they go alone. Then export that as a movement script that you can send to the hexapod. So more features to come… not to mention I’d like to make it look a little better too 
After that I’ll port it to python so I’d be easy for people to tweak/hack it.
Once that works and I get my Hexy, I’ll interface the two together for y’all to use 