Collection of quadrupedal robots configured to work in CHAMP development framework

Overview

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
  • Stochlite
  • MangDang's Mini Pupper

Credits

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

Issues
  • error using the go1 robot in gazebo

    error using the go1 robot in gazebo

    after installation i command roslaunch go1_config gazebo.launch

    but i have this error

    Traceback (most recent call last): File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/init.py", line 347, in main p.start() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 305, in start self._start_infrastructure() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 254, in _start_infrastructure self._load_config() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 157, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/config.py", line 461, in load_config_default loader.load(f, config, argv=args, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 761, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 733, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 634, in _include_tag default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 634, in _include_tag default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 669, in _recurse_load default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 634, in _include_tag default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 679, in _recurse_load self._param_tag(tag, context, ros_config, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 271, in _param_tag value = self.param_value(verbose, name, ptype, *vals) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py", line 476, in param_value with open(textfile, 'r') as f: IOError: [Errno 2] No such file or directory: u'/~/catkin_ws/src/spot_ros/spot_description/urdf/spot.urdf'

    what's the problem...?

    opened by juno100 4
  • Controller Spawner couldn't find

    Controller Spawner couldn't find

    Hello.

    This collection's robot can't stand when gazebo.launch started. At that time, "Controller Spawner couldn't find the expected controller_manager ROS interface." is displayed in the terminal.

    Is there a way to fix this issue? image

    opened by Biruberuvinto 2
  • Add Stochlite Robot

    Add Stochlite Robot

    Adding stochlite robot from StochLab

    (I have not added the slope estimation code since I'm not sure where to place it as I have a separate package for it)

    opened by aditya-shirwatkar 0
  • Problem with robot's model

    Problem with robot's model

    When launching spotmicro robot in gazebo, the robot doesn't look right, and the colours are really different. Is there a problem with the robot's urdf file? Is there a way to fix the bug? Thank you! Screenshot from 2021-07-28 15-44-25

    opened by chamemilo 2
  • How to use my own laser?

    How to use my own laser?

    Hi, I want to use RPLIDAR A3 on mini cheetah, and I change the gazebo parameter of hokuyo in yobotics.urdf, but it doesn't work . How can I use RPLIDAR A3 ?

    opened by Jingjinganhao 6
  • Adding Ghost Robotics Robots

    Adding Ghost Robotics Robots

    We would love for our robots to be added to this repository! Recently, we've been creating our own Gazebo simulation (using our SDK), and would love to make our URDF files available for use with chvmp.

    @AdarshKulkarni is the main person from Ghost leading this effort, so I'm also going to tag him here.

    Our source is hosted on GitLab, under the Apache 2.0 license. You can find the repository here.

    Let us know how to proceed from our end.

    opened by allenh1 1
  • how to use the model in champ

    how to use the model in champ

    Hi:), I am trying to simulate minicheetah in the champ environment. But I was encountered with many problems when replacing the champ model with minicheetah model. Which files should I replace? I tried many ways but it's still not working. Thx!

    opened by YandongJi 4
Owner
CHAMP
Legged Robots Research
CHAMP
Wolf_descriptions - WoLF: Whole-body Locomotion Framework for quadruped robots

WoLF: Whole-body Locomotion Framework for quadruped robots This repo contains a collection of different robots and sensors used in WoLF. Setup See the

Gennaro Raiola 6 Feb 5, 2022
WoLF: Whole-body Locomotion Framework for quadruped robots

WoLF: Whole-body Locomotion Framework for quadruped robots This package contains the navigation stack to be used with WoLF. Mantainers: Federico Rollo

Gennaro Raiola 12 May 17, 2022
A modern-day Boss Key software tool. Switch instantly from work to play & play to work with Bosky.

Bosky By: Seanpm2001, Bosky-dev Et; Al. Top README.md Read this article in a different language Sorted by: A-Z Sorting options unavailable ( af Afrika

Sean P. Myrick V19.1.7.2 1 Nov 11, 2021
ModuLiDAR is an all-in-one open-source software for autonomous UGVs and industrial robots.

ModuLiDAR is an all-in-one open-source software for autonomous UGVs and industrial robots. the target industries that ModuLiDAR is working on are farming industry, mining industry, warehouses industry, and construction industry.

null 18 Jun 16, 2022
Otto-SetupAssist provides an Arduino sketch which assist you to build Otto robots.

Otto-SetupAssist Otto-SetupAssist provides an Arduino sketch which assist you to build Otto robots. This sketch provides two features: Move servos to

ROBOT.ICHIBA 1 Oct 20, 2021
Autonomous recorder for vex robots using the PROS API

VEX Robot Recorder Description This is a demo project for the "Recorder" class that allows the user to record and play back past recorded autonomouses

null 2 Jun 14, 2022
Local Navigation Planner for Legged Robots

ANYmal Rough Terrain Planner Sampling based path planning for ANYmal, based on 2.5D height maps. More detailed instructions still to come. The paper d

Robotic Systems Lab - Legged Robotics at ETH Zürich 27 Jun 16, 2022
Let's upgrade cheap off-the-shelf robotic mowers to modern, smart RTK GPS based lawn mowing robots!

OpenMower Join the Discord server for OpenMower discussion: HERE About the Project ⚠️ DISCLAIMER: IF YOU ARE NOT 100% SURE WHAT YOU ARE DOING, PLEASE

Clemens Elflein 3.1k Jun 26, 2022
A personal collection of Windows CVE I have turned in to exploit source, as well as a collection of payloads I've written to be used in conjunction with these exploits.

This repository contains a personal collection of Windows CVE I have turned in to exploit source, as well as a collection of payloads I've written to

null 76 Jun 22, 2022
A Flutter package that makes it easy to customize and work with your Flutter desktop app's system tray.

system_tray A Flutter package that that enables support for system tray menu for desktop flutter apps. on Windows, macOS and Linux. Features: - Modify

AnTler 103 Jun 24, 2022
Apex cheat without R/W. can implement your own R/W and it will work fine

pubApexCheat Apex cheat without R/W. can implement your own R/W and it will work fine. will update readme later Aimbot Prediction and imGui draw funct

null 22 Jun 20, 2022
Unix pager (with very rich functionality) designed for work with tables. Designed for PostgreSQL, but MySQL is supported too. Works well with pgcli too. Can be used as CSV or TSV viewer too. It supports searching, selecting rows, columns, or block and export selected area to clipboard.

Unix pager (with very rich functionality) designed for work with tables. Designed for PostgreSQL, but MySQL is supported too. Works well with pgcli too. Can be used as CSV or TSV viewer too. It supports searching, selecting rows, columns, or block and export selected area to clipboard.

Pavel Stehule 1.8k Jun 21, 2022
This repo does not contain any skins that work by themselves, but rather addons to already existing skins like CakeOS and Polybar

Rainmeter-addons ⚠ This repo does not contain any skins that work by themselves, but rather addons to already existing skins like CakeOS and Polybar E

null 4 Oct 17, 2021
A self made HWID Spoofer for Fortnite and Valorant. May also work in Warzone, Apex etc.

HWID-Spoofer A HWID-Spoofer made by me. Tested for Fortnite and Valorant. Really undetected in the moment How to use the Valorant Internal [+] - Downl

gupr0x4 12 Jun 6, 2022
A simple CHIP-8 emulator made for the purpose of studying computer organization, mainly how emulation does work.

CHIP8EMU A simple CHIP-8 emulator made for the purpose of studying computer organization, mainly how emulation does work. It was written in just a few

Patrick Cardoso 1 Nov 9, 2021
Vstat is a simple program I made for mostly myself on my Arch linux system, the "timezone" file may not work on all arch systems.

Vstat Vstat is a simple program I made for mostly myself on my Arch linux system. I made Vstat because the idea of having your system information disp

__Oblivion__ 1 Nov 11, 2021
a work in progress try to make an IDE with the CSFML

EatSleepCode A work in progress for educational purpose. To help better understanding the CSFML lib. Installation clone this repo and do make Use case

Saverio 2 Nov 20, 2021
ClickLock which supports old games where the Windows ClickLock fails to work. This is a charity project, designed for people with disabilities.

Mouse ClickLock For Games This small utility works in a similar way as ClickLock available on Windows, but also supports old games where the normal Cl

null 4 May 15, 2022