Supported platforms¶
Quad-SDK ships configs and hardware interfaces for the following quadrupeds. Tested means the lab has run the full planning + control stack on real hardware. Config-ready means simulation works and the config is in-tree but hardware has not been verified yet.
At a glance¶
| Platform | Manufacturer | Status | Mass | Sim backend |
|---|---|---|---|---|
| Spirit 40 | Ghost Robotics | Tested | 12 kg | Gazebo + MuJoCo |
| Go2 | Unitree | Tested | 15 kg | Gazebo + MuJoCo |
| Go1 | Unitree | Tested | 12 kg | Gazebo + MuJoCo |
| A1 | Unitree | Tested | 12 kg | Gazebo + MuJoCo |
| B2 | Unitree | Tested | 60 kg | Gazebo |
| Spot | Boston Dynamics | Tested | 32.5 kg | Gazebo (joint API) |
| Vision60 | Ghost Robotics | Tested | 50 kg | Gazebo |
| Go2-W (wheeled) | Unitree | Config-ready | 18 kg | Gazebo |
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.
Performance reference¶
Approximate steady-state CPU on the planner stack with the default 1 kHz control loop and 333 Hz local planner:
| Platform tier | Onboard CPU | NMPC step | Local planner | Notes |
|---|---|---|---|---|
| Tier 1 (Go2, Spirit, Go1) | i7 / Ryzen 7 + 16 GB | ~2.8 ms | ~3.0 ms | Fits comfortably |
| Tier 2 (Jetson Orin) | 8-core Cortex-A78 | ~5.5 ms | ~6.0 ms | Tighten horizon for headroom |
| Tier 3 (Jetson Xavier NX) | 6-core Carmel | ~9 ms | ~10 ms | Drop horizon to 16, raise dt |
These numbers are eyeballed from CI bench reports — the perf-tests package reproduces them.