chvmp / Robots
Collection of quadrupedal robots configured to work in CHAMP development framework
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zoo
This repository contains configuration packages of various quadrupedal robots generated by CHAMP's setup assistant.
Installation
You need to have 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 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 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
- MIT Mini Cheetah
- OpenDog V2
- Open Quadruped
Credits
The URDFs found in this repository have been forked/modified/linked from the following projects:
Note that the project description data, including the texts, logos, images, and/or trademarks,
for each open source project belongs to its rightful owner.
If you wish to add or remove any projects, please contact us at [email protected].