Robots_for_Omniverse

The objective of this project is to make developing robotics an engaging and exciting experience.

OriginalAuthor:
Renan Monteiro Barbosa

Please feel free to contribute with either robots in openUSD or URDF descriptions that can be converted.

openUSD_assets

List of robots converted to openUSD.

Quadrupeds

• Boston Dynamics
  • Spot
• SpotMicroAI

Bipedal

• Agility Robotics
  • Digit
• Unitree Robotics
• NJIT - TOCABI

URDF_descriptions

It contains all the robot descriptions in URDF.
Below is the list of all the sources where the URDFs where obtained from.

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' Youtube
  • 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
• Unitree H1

Manipulation

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

Appendix

Notes

• NJIT-TOCABi has a high poly and low poly version, this repo has the low poly version light_weight.
  
• Dream Walker usd files are too large. Could not commit instanceable_meshes.usd
  

RobotEra TECHNOLOGY CO.,LTD. Founded in 2023, RobotEra TECHNOLOGY CO., LTD focuses on the R&D of embodied AI general-purpose humanoid robots. https://github.com/roboterax