mjbots quad

March 14, 2025 ยท View on GitHub

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

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 or 22.04.

./install-packages

For Ubuntu 24.04, you will also need to manually download and install an appropriate libtinfo5 package from 22.04. https://packages.ubuntu.com/jammy/amd64/libtinfo5/download

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