This repository includes the hardware and software components of "MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding."
Please refer to the following links for more information.
You can find all the hardware components in the following link
From the link of RUBIK LINK V2.0, please download the upper computer installation program and make all the motors MIT mode.
- AK70-10
- AK10-9 V2.0
- AK Serials Manual
- RUBIK LINK V2.0
- Motor Order: L(6-10) --> R(1-5) / Proximal --> Distal
- Link Name: L_hip1_link --> L_hip2_link --> L_thigh_link --> L_calf_link --> L_foot_link
- Joint Name: L_hip_y --> L_hip_r --> L_hip_p --> L_knee_p --> L_ankle_p
Please install the following dependencies.
- ROS
- legged_gym
- livox_ros_driver2
- FAST_LIO # optional
- spacenav_node # optional
- virtual_joystick # optional
Please install the following python packages.
- bitstring
- pytorch
- scipy
- mujoco
- mujoco-python-viewer
- urdf_parser_py
- ds4drv (optional)
mkdir -p ~/mevita_ws/src
cd ~/mevita_ws/src
git clone git@github.com:haraduka/mevita.git
cd ..
catkin build
source ~/mevita_ws/devel/setup.bash
udevadm info -a -p /sys/class/net/can0 | grep serial # you can get ATTRS{serial}=="004000235457530120353930"
# see config/99-usb-can.rules
sudo vim /etc/udev/rules.d/99-usb-can.rules
# add the below command
SUBSYSTEM=="usb", ATTRS{serial}=="004000235457530120353930", SYMLINK+="can_usb_0"
SUBSYSTEM=="usb", ATTRS{serial}=="004000265457530120353930", SYMLINK+="can_usb_1"
# then (please plug out and in the device)
sudo udevadm control --reload-rules
sudo udevadm trigger
# in legged_gym
git remote add haraduka git@github.com:haraduka/legged_gym.git
git fetch haraduka
git checkout haraduka/mevita
python3 legged_gym/scripts/train.py --task mevita
python3 legged_gym/scripts/play.py --task mevita --load_run ( log_dir )
cp logs/mevita/( log_dir )/exported/policies/policy_1.pt /tmp/policy.pt
roscd mevita
cp /tmp/policy.pt models/policy.pt
Please test several codes by running the following command.
python3 scripts/mevita_utils.py
Please test the motors by running the following command.
./bin/can_setup.sh
python scripts/tmotor_test.py --device can0 --ids 1 --task sense
Please test the real robot by running the following command.
# in the PC of MEVITA
roscore
sudo ds4drv
roslaunch mevita livox.launch
./bin/can_setup.sh
python3 scripts/mevita_main.py
# Cross: SITDOWN/STANDUP, Circle: STANDUP/WALK for ps4joy
If you want to simulate the robot in mujoco
python3 scripts/mevita_main.py --sim
# please press D to turn off every-step rendering in mujoco viewer
- scripts/tmotor_lib.py is from mini-cheetah-tmotor-python-can
- scripts/isaacgym_torch_utils.py is from IsaacGym
- scripts/legged_gym_math.py is from LeggedGym
@inproceedings{kawaharazuka2025mevita,
author={K. Kawaharazuka and S. Sawaguchi and A. Iwata and K. Yoneda and T. Suzuki and K. Okada},
title={{MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding}},
booktitle={Proceedings of the 2025 IEEE-RAS International Conference on Humanoid Robots},
year=2025,
}