This work is based on https://github.com/mjbots/quad

mjbots quad

Source and design files for the mjbots quad series of robots, their controlling interfaces, and utilities for developing and operating them.

• GitHub https://github.com/mjbots/mjmech
• Most files are free hardware and software: Apache 2.0 License
• Overall F360 assembly: https://a360.co/2Xot0VJ

Directory structure

• base/ - C++ source files common to many applications.
• ffmpeg/ - C++ ffmpeg wrappers.
• gl/ - C++ GL wrappers.
• mech/ - C++ source files specific to walking robots.
• simulator/ - C++ source files for a quadruped simulator.
• utils/ - Utilities for development and data analysis.
• configs/ - Configuration files for different robots and applications.
• hw/ - Hardware design files along with firmware.
• docs/ - Documentation.

First Time Setup

The following should work on Ubuntu 20.04

./install-packages

Building for host

tools/bazel test //...

Running simulation

./bazel-bin/simulator/simulator -c configs/quadruped.ini

Then point your web browser to http://localhost:4778