This demo is about the simulation of a crawling spider robot with six legs, where we control the motion of the legs with 18 actuators.

In deail, one performs the following steps:

use SolidWorks to make a 3D CAD model of the crawling robot,
export it as a .pyfile using the Chrono::SolidWorks add-in; ex. use the name spider_robot.py
create a Python program, ex. use the name demo_SW_spider_robot.py, using the functions of PyChrono to load and simulate spider_robot.py.

The CAD model and the demo_SW_spider_robot.py program come with the Chrono SolidWorks add-in installation, but are also directly available here

Note that a part that shows as M-410iB-300 -1/ArmBase<1> in the GUI of SolidWorks, becomes M-410iB-300 -1/ArmBase-1 for the Python side; i.e. the <N> suffix becomes -N.