{"id":19855243,"url":"https://github.com/leggedrobotics/cerberus_anymal_locomotion","last_synced_at":"2025-05-02T01:30:50.974Z","repository":{"id":54741188,"uuid":"252180788","full_name":"leggedrobotics/cerberus_anymal_locomotion","owner":"leggedrobotics","description":null,"archived":false,"fork":false,"pushed_at":"2021-02-01T12:39:00.000Z","size":12740,"stargazers_count":18,"open_issues_count":3,"forks_count":11,"subscribers_count":26,"default_branch":"master","last_synced_at":"2025-04-06T20:46:32.415Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":".github/CODEOWNERS","security":null,"support":null}},"created_at":"2020-04-01T13:18:58.000Z","updated_at":"2025-02-27T03:34:37.000Z","dependencies_parsed_at":"2022-08-14T01:20:44.638Z","dependency_job_id":null,"html_url":"https://github.com/leggedrobotics/cerberus_anymal_locomotion","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fcerberus_anymal_locomotion","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fcerberus_anymal_locomotion/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fcerberus_anymal_locomotion/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fcerberus_anymal_locomotion/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/cerberus_anymal_locomotion/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":251969284,"owners_count":21673184,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-12T14:12:07.743Z","updated_at":"2025-05-02T01:30:45.959Z","avatar_url":"https://github.com/leggedrobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CERBERUS ANYmal Locomotion\nThis repository contains the software that can be used to control the ANYmal model in the  [DARPA Subterranean Challenge Virtual Competition Simulator](https://github.com/osrf/subt/wiki).\n\n**Authors \u0026 Maintainers**:\n  * Samuel Zimmermann\n  * Marco Tranzatto\n  * Timon Homberger\n\n**Affiliation:** [Robotic Systems Lab - ETH Zurich](https://rsl.ethz.ch/the-lab.html)\n\n### ANYmal B\n[![CERBERUS ANYmal B](doc/cerberus_anymal_b.gif)](doc/cerberus_anymal_b.gif)\n\n### ANYmal C\n[![CERBERUS ANYmal C](doc/cerberus_anymal_c.gif)](doc/cerberus_anymal_c.gif)\n\n## License\nThis software is released under a [BSD 3-Clause license](LICENSE).\n\n## Publications\nIf you use this work in an academic context, please cite the following publications:\n\n\u003e Joonho Lee,  Jemin Hwangbo,  Lorenz Wellhausen,  Vladlen Koltun and Marco Hutter\n\u003e **\"Learning quadrupedal locomotion over challenging terrain\"**,\n\u003e in Science Robotics, 21.10, 2020 ([DOI](https://robotics.sciencemag.org/content/5/47/eabc5986))\n\n    @article{Leeeabc5986,\n  \t    author = {Lee, Joonho and Hwangbo, Jemin and Wellhausen, Lorenz and Koltun, Vladlen and Hutter, Marco},\n      \ttitle = {Learning quadrupedal locomotion over challenging terrain},\n      \tvolume = {5},\n      \tnumber = {47},\n      \telocation-id = {eabc5986},\n      \tyear = {2020},\n      \tdoi = {10.1126/scirobotics.abc5986},\n      \tpublisher = {Science Robotics},\n      \tURL = {https://robotics.sciencemag.org/content/5/47/eabc5986},\n      \teprint = {https://robotics.sciencemag.org/content/5/47/eabc5986.full.pdf},\n      \tjournal = {Science Robotics}\n    }\n\n## Dependencies\nThe following dependencies are needed to run the ANYmal locomotion controller.\n* catkin workspace setup for the SubT (Ignition) Simulation. See [SubT (Ignition) Simulation](https://github.com/osrf/subt/wiki/Catkin%20System%20Setup).\n* catkin_tools package. See [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/installing.html).\n\n## Instructions\nCreate the `anymal_locomotion_ws` workspace and clone the cerberus_anymal_locomotion repo:\n```\nmkdir -p ~/anymal_locomotion_ws/src \u0026\u0026 cd ~/anymal_locomotion_ws/src\n\ngit clone git@github.com:leggedrobotics/cerberus_anymal_locomotion.git # or over https: git clone https://github.com/leggedrobotics/cerberus_anymal_locomotion.git\n\ncd cerberus_anymal_locomotion/\n\ngit submodule update --init --recursive\n```\n\nConfigure and build the workspace. We need to overlay the `subt_ws` workspace because of protobuf version mismatch between one of our dependencies (tensorflow-cpp) and the version used by Ignition Gazebo. Furthermore we build in `Release` mode.\n```\nsource /opt/ros/melodic/setup.bash\n\ncd ~/anymal_locomotion_ws/\n\ncatkin config --extend ~/subt_ws/install/\ncatkin config --cmake-args -DCMAKE_BUILD_TYPE=Release\n```\n\nBuild and launch the locomotion controller for ANYmal B:\n```\ncatkin build cerberus_anymal_b_control_1\nsource ~/anymal_locomotion_ws/devel/setup.bash\n\nroslaunch cerberus_anymal_b_control_1 cerberus_anymal_controller.launch\n```\nBuild and launch the locomotion controller for ANYmal C:\n```\ncatkin build cerberus_anymal_c_control_1\nsource ~/anymal_locomotion_ws/devel/setup.bash\n\nroslaunch cerberus_anymal_c_control_1 cerberus_anymal_controller.launch\n```\n\n## Bugs \u0026 Issues\nPlease report bugs or issues using the [Issue Tracker](https://github.com/leggedrobotics/cerberus_anymal_locomotion/issues).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fcerberus_anymal_locomotion","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Fcerberus_anymal_locomotion","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fcerberus_anymal_locomotion/lists"}