renanmb/Omniverse_legged_robotics

A collection of open source legged robotics models

The idea of this repo is to start converting open source models of robots into Omniverse Isaac-Sim friendly format.

URDF Descriptions

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

Quadrupeds

• kodlab_gazebo - Ghost Robotics
• ANYbotics
  • ANYbotics' ANYmal B
  • ANYbotics' ANYmal B - Modified for CHAMP
  • ANYbotics' ANYmal C
  • ANYbotics' ANYmal B - Modified for CHAMP
• Boston Dynamic's Little Dog
  • Boston Dynamic's Little Dog - by RobotLocomotion
  • Boston Dynamic's Little Dog - Modified for CHAMP
• Boston Dynamic's Spot
  • Boston Dynamic's Spot - by heuristicus
  • Boston Dynamic's Spot - Modified for CHAMP
• Dream Walker
• MIT Mini Cheetah - Original
  • MIT Mini Cheetah - Modified for CHAMP
• OpenDog V2 - Original
  • OpenDog V2 - Modified for CHAMP
• Open Quadruped
  • Open Quadruped
  • SpotMicroAI - Gitlab
  • Spot Micro
• Unitree Robotics All
  • Unitree Robotics All - Modified for CHAMP
  • Unitree Robotics' A1
  • Unitree Robotics' AliengoZ1
  • Unitree Robotics'Aliengo
  • Unitree Robotics' B1
  • Unitree Robotics' Go1
  • Unitree Robotics' Laikago
  • Unitree Robotics' Z1
• Stochlab's Stochlite
  • Stochlab's Stochlite - Modified by aditya-shirwatkar
• Mini Pupper
  • MangDang's Mini Pupper
    • simplified robot description of the MangDang's Mini Pupper
  • Stanford pupper - Original
    • Stanford pupper - Modified by Chandykunju Alex

Bipedal

• Agility Robotics' Cassie - UMich-BipedLab
• Agility Robotics' Digit - DigitRobot.jl
• NJIT - TOCABI

Manipulation

• GoogleAI ROBEL D'Kitty
• GoogleAI ROBEL D'Kitty - Modified for CHAMP
• The Shadow Robot Company
• Shadow Hand - archived

Cassie_description

This repository contains the .urdf model of the CASSIE robot from Agility Robotics. It also includes a way to visualize the robot using ROS and rviz. https://github.com/UMich-BipedLab/cassie_description

a1 robot simulation - Python version

This repository contains all the files and code needed to simulate the a1 quadrupedal robot using Gazebo and ROS. The software runs on ROS noetic and Ubuntu 20.04. https://github.com/lnotspotl/a1_sim_py

Here are the ROS simulation packages for Unitree robots

https://github.com/unitreerobotics/unitree_ros

Zoo from CHAMP

This repository contains configuration packages of various quadrupedal robots generated by CHAMP's setup assistant. The URDFs found in this repository have been forked/modified/linked from the following projects: https://github.com/chvmp/robots