Quadruped Robot Descriptions

This repository contains URDF files for quadruped robots, all organized as ROS2 packages. Most of them have been repainted in Blender for better visualization. ☺️

Quick Start

# Clone the repository
git clone https://github.com/fiveages-sim/robot-descriptions-quadruped

# Navigate to the repository directory
cd robot-descriptions-quadruped

Quadruped Robots

Brand	Model	Repaint	Images
Unitree	A1	No
Unitree	Aliengo	No
Unitree	Go1	Yes
Unitree	Go2	No
Unitree	B2	No
Deep Robotics	Lite3	Yes
Deep Robotics	X30	Yes
Xiaomi	CyberDog	Yes
MagicLab	MagicDog	Yes
ZsiBot	ZSL-1	Yes

Usage

Each robot description is a ROS2 package that can be used independently. To use a specific robot description:

# Source your ROS2 workspace
source /opt/ros/humble/setup.bash  # or your ROS2 distribution

# Build the workspace
colcon build --packages-select <robot_description_package>

# Source the workspace
source install/setup.bash

# Visualize the robot in RViz
ros2 launch <robot_description_package> display.launch.py

Package Structure

quadruped/
├── unitree/              # Unitree quadruped robots
│   ├── unitree_a1_description/
│   ├── unitree_aliengo_description/
│   ├── unitree_go1_description/
│   ├── unitree_go2_description/
│   └── unitree_b2_description/
├── deep_robotics/        # Deep Robotics quadruped robots
│   ├── lite3_description/
│   └── x30_description/
├── magiclab/             # MagicLab quadruped robots
│   ├── cyberdog_description/
│   └── magicdog_description/
└── zsibot/               # ZsiBot quadruped robots
    └── zsl1_description/

Integration with Main Repository

This repository is used as a submodule in the main robot-descriptions repository. When cloned as part of the main repository, initialize submodules:

git submodule update --init --recursive

License

Please refer to individual package LICENSE files for license information.