Quadruped Control Full Stack Development Kit

Just sharing this announcement with the Robots for Roboticists community. I have not had a chance to use this yet. I know I generally only share things that I have used, but I felt this was worth sharing. If you try it out, let us know how it works.

Announcing Quad-SDK! A full-stack quadruped control code open source, so anyone can jump right in to programming legged robots. This modular code will provide a good launching point for researchers looking to work on just one part of the control stack, include legged robots in other research projects, and provide a baseline for future improvements.

Key features:
* Open source, ROS compatible
* Supports agile motions like jumping
* Cross platform, with Unitree A1 and Ghost Spirit support (and easy to add new robots)
* Full stack, including high level path planning, nonlinear MPC, low level control, communication, debugging, etc.
* Multi-robot support
* Robust software engineering, with CI and all releases in “main” tested on hardware
* Easily extendable — contribute your own better controller!

Earlier this summer, Quad-SDK won the Best Paper Award at the ICRA Workshop on Legged Robots! Congratulations to the whole team!

Code: https://github.com/robomechanics/quad-sdk
Paper: https://www.andrew.cmu.edu/user/amj1/papers/Quad_SDK_ICRA_Abstract.pdf

Workshop: https://leggedrobots.org/contributions.html

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