mjmech

Source and design files for various walking 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
buildkite

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.
video-ui/ - Client application for FPV and real-time control.
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 18.04

./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