Supported platforms¶
Quad-SDK ships configs and hardware interfaces for the following quadrupeds. Hardware tested means the lab has run the full planning + control stack on the physical robot — currently the Ghost Robotics Spirit 40 and the Unitree Go2. Every listed platform has an in-tree config and runs in simulation; see the simulator support matrix below for which backend covers which robot.
At a glance¶
| Platform | Manufacturer | Mass | Hardware status |
|---|---|---|---|
| Spirit 40 | Ghost Robotics | 12 kg | Tested on hardware |
| Go2 | Unitree | 15 kg | Tested on hardware |
| Go1 | Unitree | 12 kg | Simulation / config-ready |
| A1 | Unitree | 12 kg | Simulation / config-ready |
| B2 | Unitree | 60 kg | Simulation / config-ready |
| Spot | Boston Dynamics | 32.5 kg | Simulation / config-ready |
| Vision60 | Ghost Robotics | 50 kg | Simulation / config-ready |
| Go2-W (wheeled) | Unitree | 18 kg | Simulation / config-ready |
Simulator support¶
Quad-SDK runs in three simulators: Gazebo Harmonic, MuJoCo, and NVIDIA IsaacSim 5.1. Each robot's verified coverage:
| Robot | Gazebo | MuJoCo | IsaacSim |
|---|---|---|---|
| Spirit 40 | |||
| Go2 | |||
| Go1 | |||
| A1 | |||
| B2 | |||
| Spot | |||
| Vision60 | |||
| Go2-W |
- Gazebo Harmonic — every platform.
- MuJoCo — every platform except the A1.
- IsaacSim 5.1 (beta) — Spirit 40 and Go2 (the robots in the Isaac bridge
ROBOT_REGISTRY). Requires a separate IsaacLab conda install (install guide). See Running in IsaacSim for setup and run instructions.
Adding a new platform¶
If your robot isn't listed, see Adding a new robot for the full step-by-step. We accept upstream contributions — file a PR with the description package and per-robot YAML.