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Roboparty/roboto_origin ★ 2401 316 APPLICATION

This repository is the complete open-source hardware and software stack for the Roboto Origin bipedal robot, formerly known as Atom01. It is a hybrid monorepo covering mechanical design (CAD files, 3D printing, BOMs), electronics (PCB designs, firmware for a USB2CAN board), low-level ROS2 control (motor drivers, IMU, camera, inference), simulation and reinforcement learning training (roboparty_train with Isaac Sim/MuJoCo and PPO/AMP algorithms), navigation (LiDAR localization, UWB, path planning), and XR teleoperation. The repository is organized into multiple modules, each with its own build system (CMake, Zephyr, Python). The dominant character is an application (a robot system), but it includes a substantial data_research component in the training module where RL policies are trained using motion capture data. The codebase is well-structured, actively maintained, and provides a complete recipe for building and deploying a humanoid robot from scratch.

RATING: 7.8/10 MAINT: active DRIFT: low
#robotics #ros2 #reinforcement-learning #bipedal-robot #open-source-hardware #simulation #navigation #teleoperation
▸ 6 reusable components found
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