mevius

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A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining

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- can_setup.sh
- mevius.rviz
- design.png
- display.launch
- - base_link.STL
  - BL_calf_link.STL
  - BL_scapula_link.STL
  - BL_thigh_link.STL
  - BR_calf_link.STL
  - BR_scapula_link.STL
  - BR_thigh_link.STL
  - FL_calf_link.STL
  - FL_scapula_link.STL
  - FL_thigh_link.STL
  - FR_calf_link.STL
  - FR_scapula_link.STL
  - FR_thigh_link.STL
- mevius.urdf
- mevius.xml
- policy.pt
- scene.xml
- MeviusLog.msg
- isaacgym_torch_utils.py
- legged_gym_math.py
- mevius_main.py
- mevius_utils.py
- parameters.py
- tmotor_lib.py
- tmotor_test.py
CMakeLists.txt
LICENSE
package.xml
README.md

// repository documentation

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# MEVIUS
This repository includes the hardware and software components of "MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining."

Please refer to the following links for more information.
- [Project Page](https://haraduka.github.io/mevius-hardware)
- [arXiv](https://arxiv.org/abs/2409.14721)
- [YouTube](https://www.youtube.com/watch?v=XXJ4EK3Y4zQ)

# Hardware

You can find all the hardware components in the following link
- [Goodle Drive](https://drive.google.com/drive/folders/18i6CWtUG8fkY0rCcbjN5WiUYItjIX0WM?usp=sharing)

From the link of RUBIK LINK V2.0, please download the upper computer installation program and make all the motors MIT mode.
- [AK70-10](https://www.cubemars.com/goods-1031-AK70-10.html)
- [AK Serials Manual](https://www.cubemars.com/images/file/20241217/1734428582786471.pdf)
- [RUBIK LINK V2.0](https://www.cubemars.com/goods-1140-RUBIK+LINK+V20.html)
- Motor Order: FR(1-3) --> FL(4-6) --> BR(7-9) --> BL(10-12) / Proximal --> Distal
- Link Name: FR_scapula_link --> FR_thigh_link --> FR_calf_link
- Joint Name: FR_collar --> FR_hip --> FR_knee

![](https://raw.githubusercontent.com/haraduka/mevius/main/imgs/design.png)

# Software Dependencies
Please install the following dependencies.
- [ROS](https://www.ros.org/)
- [realsense-ros](https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy)
- [spacenav_node](https://wiki.ros.org/spacenav_node) # optional
- [virtual_joystick](https://github.com/aquahika/rqt_virtual_joystick) # optional
- [urdfdom-py](https://github.com/ros/urdf_parser_py)
- [legged_gym](https://github.com/leggedrobotics/legged_gym)

Please install the following python packages.
- bitstring
- pytorch
- scipy
- mujoco
- mujoco-python-viewer

# Build
```
mkdir -p ~/mevius_ws/src
cd ~/mevius_ws/src
git clone git@github.com:haraduka/mevius.git
cd ..
catkin build
source ~/mevius_ws/devel/setup.bash
```

# Reinforcement Learning
Caution: This policy is very simple and not so stable. Currently, it became very stable with a lot of improvement and will be uploaded soon.

```
# in legged_gym
git remote add haraduka git@github.com:haraduka/legged_gym.git
git fetch haraduka
git checkout haraduka/mevius

# train with two phases
# first phase
python3 legged_gym/scripts/train.py --task mevius
# second phase
# change the parameters in legged_gym/envs/mevius/mevius_config.py from "first" to "second"
# there are two parameters to change: commands.ranges and domain_rand.friction_range
python3 legged_gym/scripts/train.py --task mevius
python3 legged_gym/scripts/play.py --task mevius --load_run ( log_dir )
cp logs/flat_mevius/( log_dir )/exported/policies/policy_1.pt ../mevius/models/policy.pt

```

# Usage
Please test the installation by running the following command.
```
python3 scripts/mevius_utils.py
```
Please test the motors by running the following command.
```
./bin/can_setup.sh
python scripts/tmotor_test.py --ids 1 --task sense
```
Please test the real robot by running the following command.
```
# in the PC of MEVIUS
roscore
roslaunch realsense2_camera rs_t265.launch
./bin/can_setup.sh
python3 scripts/mevius_main.py

# in your local PC
roslaunch spacenav_node classic.launch

# Left Click: SITDOWN/STANDUP, Right Click: STANDUP/WALK

# if you want to simulate the robot in mujoco
python3 scripts/mevius_main.py --sim

# please press D to turn off every-step rendering in mujoco viewer
```

# Acknowledgements
- scripts/tmotor_lib.py is from [mini-cheetah-tmotor-python-can](https://github.com/dfki-ric-underactuated-lab/mini-cheetah-tmotor-python-can)
- scripts/isaacgym_torch_utils.py is from [IsaacGym](https://developer.nvidia.com/isaac-gym)
- scripts/legged_gym_math.py is from [LeggedGym](https://github.com/leggedrobotics/legged_gym)

# Citation
```
@inproceedings{kawaharazuka2024mevius,
  author={K. Kawaharazuka and S. Inoue and T. Suzuki and S. Yuzaki and S. Sawaguchi and K. Okada and M. Inaba},
  title={{MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining}},
  booktitle={Proceedings of the 2024 IEEE-RAS International Conference on Humanoid Robots},
  year=2024,
}
```

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