Hello community, i've created a first draft of a higher cover for 3D printing and it fits. Additionally rescue movement is still working, too. I will improve some points in future, for example: - thinner walls, so the assemble/disassemble will working easier (currently you need 'long' fingernails, to deassemble it) - optimize dimensions, so cover fits nearly perfectly - close the little gap on front- and backside But currently it fullfills the requirement of more space and protects the controller, when bittle is falling. Unfortunately i can't upload the .stl-file. Does anyone know, how i could upload the .stl-file here?

That was the final point 😀 Finally I got smooth movement gif with magick. Thanks!

@Gero Even with the standard parameters its notchy, but i tried out using ezgif, like suggested by @Rongzhong Li, instead of magick, and now its smooth. Unfortunately i can't post my answer with gif's attached (or with gif's as small image, i don't know, why). That's the command use of magick: magick.exe convert -delay 5 -loop 0 $(ls -v Bittle_*png) Bittle_moving.gif But it clearly seems to be a problem regarding gif animator tool, because with the same source .png's i got smoother result with ezgif. Of course i could use ezgif in future, but generally i prefer local tools.

Perfect, in this way its even much better, because i can use the same tool for all. So one further point: Do you have any tips, to get a smooth .gif? It doesn't matter, which algorithm i'll use, the movement output is in every case 'notchy' (and i don't know, what be the result, when i try it on my bittle, so before i damage it, i just want to clear that point). Your movement .gif's were far, far smoother than mine (I use magick, too). And the smoother the gif, the better i can identify points for improvement in movement.

@Gero Big thanks, i assume, i've to diving much deeper into topic. Tomorrow i will have more time to test some own configurations and upload them to my bittle. Nevertheless do you have any good suggestion regarding a GUI for posture and behaviour development respective a program to make it easier to create them? That would complete my needs for building own gaits/postures/behaviours (for now). Thanks in advance.

@Gero Currently i'm tinker with the kinematic script, but still have some jumps within, regardless of which optimization algorithm is in use, but i will check it the next days :) (i need some time, to understand what i'm actual doing, when i'm changing specific parameters, cause there is a lot of new stuff to learn/understand). I understand the changeable parameters in python script, but i still have some problems in understanding, what is changing, when i adjust the subplot pattern. Do you have a recommendation regarding software for behaviours/postures, too?

mea culpa, i didn‘t pay attention to this thread, before posting my question 🙈 Big thanks, i will check it.

Do you have a recommendation for adjusting the movement in general? I've checked all movements, and currently just crawling forward and back movement works fine with socks (regarding gaits). Currently i've still some problems with trot, walk and run and i've no idea, how i can improve the existing gait, so it will function, too. But it is difficult and time-consuming with simple try&error. May be there is a tool ot the like. How do you developed the movemtents?

@Rongzhong Li Thanks a lot for detailed explanation, i couldnˋt expected better answers :) @Troy Chard Also thanks for your explanation, its still difficult to me, to understand every code row on my own.

Cause we already talking about bf: - which meaning have the last two elements in appropriate array respective what comes after speed and delay elements?

ok, than i have to wait :) But is there a standard way to communicate recommendations etc.? For instance it would be nice, if bittle tries to recover to side B, if the first x attempts to side A won't lead to a balanced position.

And maybe a way to address some desired features/adjustments for the main sketch, which may usefull in general.