Gabrael Levine

OpenTorque-Actuator. OpenTorque Actuator: A powerful, compliant actuator for legged robotics.

rhea_description. URDF model for the Rhea wheeled biped

Rhea. Python

pi3hat_hardware_interface. ros2_control hardware interface for the mjbots pi3hat

neural_controller. Real-time inference for RL policies with ROS2 Control

rhea_locomotion. Locomotion code for the Rhea wheeled biped

ODriveTeensyCAN. C++

pupper_v3_description. Python

ODrive. High performance motor control

puppersim. Simulation for DJI Pupper v2 robot

ros2_llm. Framework for controlling ROS2 robots with large language models.

legged_gym. Isaac Gym Environments for Legged Robots

wheeled_biped_controller. C++

heuristic_controller. C++

control_board_hardware_interface. C++

pupper_image_builder. An automated OS image builder for the Pupper robot.

Pupper-V2-Interface. Python

MiniTorque. Firmware and design files for the MiniTorque motor driver board

StanfordQuadruped. Python

vulp. Real-time motion control for Python