https://github.com/chvmp/robots

Collection of quadrupedal robots configured to work in CHAMP development framework
https://github.com/chvmp/robots

aliengo anymal dkitty gazebo littledog mit-mini-cheetah open-quadruped opendog quadruped ros simulation spot spotmicro

Last synced: about 21 hours ago
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Collection of quadrupedal robots configured to work in CHAMP development framework

• Host: GitHub
• URL: https://github.com/chvmp/robots
• Owner: chvmp
• Created: 2020-04-14T12:04:09.000Z (almost 5 years ago)
• Default Branch: master
• Last Pushed: 2024-08-19T08:02:15.000Z (5 months ago)
• Last Synced: 2025-01-22T09:01:52.199Z (8 days ago)
• Topics: aliengo, anymal, dkitty, gazebo, littledog, mit-mini-cheetah, open-quadruped, opendog, quadruped, ros, simulation, spot, spotmicro
• Language: C
• Homepage:
• Size: 944 KB
• Stars: 241
• Watchers: 10
• Forks: 69
• Open Issues: 12
• Metadata Files:
  • Readme: README.md

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README

        
## zoo

This repository contains configuration packages of various quadrupedal robots generated by CHAMP's [setup assistant](https://github.com/chvmp/champ_setup_assistant).

## Installation

You need to have [CHAMP](https://github.com/chvmp/champ) installed in your machine to make these robots walk.

### URDF

There's a list of resources where you can download the URDF file of the robot you need in _[install_descriptions](https://github.com/chvmp/robots/blob/master/install_descriptions)_ file. Alternatively, you can run:

    ./install_descriptions

to download all the URDFs at once.

### Quick Start Guide

You can find the pre-configured robots in [configs](https://github.com/chvmp/robots/tree/master/configs) folder. There's an auto-generated README in every configuration package that contains instructions on how to run the demos.

Please take note that although the README may contain instructions how to run in Gazebo, only the following pre-configured robots work in Gazebo:

- Anybotics' ANYmal B

- Anybotics' ANYmal C

- Boston Dynamic's Spot

- Unitree Robotics' Aliengo

- Unitree Robotics' Go1

- Unitree Robotics' A1

- MIT Mini Cheetah

- OpenDog V2

- Open Quadruped

- Stochlite

- MangDang's Mini Pupper

- Stanford Pupper

## Credits

The URDFs found in this repository have been forked/modified/linked from the following projects:

- [Anybotics' ANYmal B](https://github.com/ANYbotics/anymal_b_simple_description)

- [Anybotics' ANYmal C](https://github.com/ANYbotics/anymal_c_simple_description)

- [Boston Dynamic's Little Dog](https://github.com/RobotLocomotion/LittleDog)

- [Boston Dynamic's Spot](https://github.com/clearpathrobotics/spot_ros)

- [Dream Walker](https://github.com/Ohaginia/dream_walker)

- [GoogleAI ROBEL D'Kitty](https://github.com/google-research/robel-scenes)

- [MIT Mini Cheetah](https://github.com/chvmp/mini-cheetah-gazebo-urdf)

- [OpenDog V2](https://github.com/XRobots/openDogV2)

- [Open Quadruped](https://github.com/moribots/spot_mini_mini)

- [SpotMicroAI](https://gitlab.com/custom_robots/spotmicroai)

- [Unitree Robotics' Aliengo](https://github.com/unitreerobotics/unitree_ros)

- [Unitree Robotics' Go1](https://github.com/unitreerobotics/unitree_ros)

- [Unitree Robotics' A1](https://github.com/unitreerobotics/unitree_ros)

- [Stochlab's Stochlite](https://stochlab.github.io/)

- [MangDang's Mini Pupper](https://github.com/mangdangroboticsclub/QuadrupedRobot)

- [Stanford pupper](https://stanfordstudentrobotics.org/pupper)