Open Source RoboticsRobots, software & learning

FLORES

Robot / hardware build

A four-wheel-legged research robot with front hip-yaw steering, STEP design files and ROS 2/HIMLoco control sources; project-wide reuse rights and complete build costs are unresolved. [1] [2] [4] [6] [7]

Build & first use →Official websiteUpstream build guide

For
Research teams with CNC fabrication, high-power drive integration and ROS 2/robot-learning experience [1] [3] [4]
Cost
No current cost or bill of materials established yet.
Source rights
Some licenses are unresolved. Review licenses

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
not fully assessed for mechanical design, software, model weights, documentation · Details by part

Requirements · Research details and dates

On this page

Overview

FLORES is a four-wheel-legged research robot with a front hip-yaw arrangement intended to improve steering and multi-mode locomotion. Its released mechanical design and ROS 2/HIMLoco implementation support a concrete engineering investigation. This profile covers those artifacts as a source-available hardware/control reference; it does not establish a complete reproducible build or a project-wide open-source license. [1] [2] [4] [6] [7]

Is this for you?

Known limitations
  • No project-wide license; package-level Apache/BSD labels coexist with unfinished declarations, and do not settle CAD, weights or third-party artifacts.
  • README refers to STL mechanical files, but the inspected mechanical release consists of STEP assemblies and components.
  • Simulation/training depend on external repositories; no matching full installation, training or hardware commissioning was reproduced.
  • A device list is available but no complete quantity/pricing/build budget has been established.
  • Policy payload container inspection does not establish numerical behavior or physical performance.

Editorial assessment from inspected sources.

[1] [2] [3] [4] [5] [6] [7] · Editorial assessment

What you need

Operating system
  • Ubuntu 22.04 / ROS 2 Humble documented environment

[4]

Host computer

Onboard Intel i7-class PC for the reported controller; Isaac Gym/HIMLoco training needs a separate compatible GPU environment.

Editorial assessment from inspected sources.

[3] [4] [6] · Editorial assessment

Dependencies
  • ROS 2 Humble and ros2_control
  • libtorch 2.5.0 C++11 ABI route
  • unitree_mujoco for documented simulation
  • External HIMLoco, Isaac Gym, rsl_rl and legged_gym for training

[4] [6]

Tools
  • Outsourced CNC machining
  • Mechanical/electrical integration tools

Editorial assessment from inspected sources.

[1] · Editorial assessment

Hardware & parts

Hardware configuration

Four wheel-legs with a front hip-yaw arrangement and 16-action control configuration.

Editorial assessment from inspected sources.

[1] [6] · Editorial assessment

Actuators
  • Hip/thigh/calf: Motorevo RR-PA-100-20-10-v4-78
  • Wheels: Motorevo RR-PA-81-18-10-V2

[3]

Controller

Onboard Piesia PC with Intel i7-1165G7; ROS 2 controller pipeline.

[3] [4]

Sensors
  • HiPNUC-HI13R4 IMU

[3]

Power

Upstream device list specifies a 44.4 V, 8 Ah lithium battery; electrical integration unverified.

[3]

Assembly & first use

Open the upstream getting-started guide [1]

  • Inspect Mechanical/robot.STEP and the device list; resolve fabrication and rights before ordering.
  • Use the documented MuJoCo/ROS 2 route and the exact mdog model/configuration for source study.
  • For training, integrate the supplied environment files into external HIMLoco; preserve model/observation/action agreement.

Editorial assessment from inspected sources.

[2] [3] [4] [6] · Editorial assessment

Assembly

CNC component designs are supplied, but a complete fabrication, wiring and commissioning procedure has not been established by this review.

Editorial assessment from inspected sources.

[1] [2] [3] [4] · Editorial assessment

Cost

No current, complete configuration-specific build cost has been established for this profile.

3D preview

Preview not available yet. Mechanical source files are available, but reuse scope remains unresolved. No model or photograph is hosted by this addition; mechanical fit and complete build reproduction have not been validated.

Model sources

Mechanical source files are available, but reuse scope remains unresolved. No model or photograph is hosted by this addition; mechanical fit and complete build reproduction have not been validated.

Project notes

Inspect the mechanical and electrical configuration together

The reviewed snapshot is 814db438b70793f1115c491553d7cb39eaf6b74d. Although the README calls the mechanical files STL, the inspected Mechanical tree supplies STEP assemblies and components, including robot.STEP. The payloads contain STEP geometry entities; they were not imported for fit, interference or manufacturing validation. The authors describe outsourced CNC manufacture, so this is not a printing-only desktop build. [1] [2]

The hardware list identifies a Piesia onboard computer with an Intel i7-1165G7, a HiPNUC-HI13R4 IMU, Motorevo motors for the leg and wheel joints, YD300 MOS drivers and an EtherCAT distributor. It also specifies a 44.4 V, 8 Ah lithium battery. Those items describe an upstream configuration, without establishing current availability, a verified wiring arrangement or compatible substitutes. No complete priced quantity BOM or delivered build cost was established. [3]

Start with the documented simulation boundary

The code guide names Ubuntu 22.04 and ROS 2 Humble, ros2_control and a libtorch 2.5.0 C++11-ABI route. Its MuJoCo workflow depends on the external unitree_mujoco project and the supplied mdog model. Inspectible source includes a TorchScript policy controller and a hardware interface; neither was compiled or run in this review. [4] [5]

Training is a separate integration step. The FLORES environment and configuration files must be placed and registered in external HIMLoco, alongside the matching robot description and meshes. The guide identifies Isaac Gym, rsl_rl and legged_gym dependencies and a 16-action configuration. Changing the robot model or observation structure can invalidate policy agreement; an environment folder alone is not a self-contained training installation. A local policy checkpoint was retained and inspected as a container, without executing it. [2] [4] [6]

For a reader, the useful first task is to reconcile the exact mechanical configuration, device interfaces and mdog model before attempting the documented simulation route. Hardware fabrication, wiring, calibration and complete commissioning remain work to establish rather than verified steps supplied by this profile. [2] [3] [4]

What we checked

Source research only; no fabrication, EDA import, firmware/controller compilation, environment installation, policy inference/training, numerical benchmark or physical robot testing. No affiliate links. No upstream media or CAD redistributed.

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Oct 25, 2026
Sources last checked
Oct 25, 2026
Next review
Nov 25, 2026
Reviewed revision
814db43

Source files and licenses

Include narrowly as a wheel-legged hardware/control research reference. Actual STEP design payloads, a hardware device list and inspectible ROS 2/HIMLoco implementations support a bounded engineering investigation. Distinct front-joint reconfiguration and corresponding task warrant a standalone entry. Incomplete fabrication guidance and unresolved layer-specific licensing prevent a complete open-build claim.

LayerAvailability / license
mechanical designavailable · License not fully assessed
STEP assembly and components available; no CAD-wide license identified. [2]
electronicsnot found · License not fully assessed
Purchased device list supplied; custom schematic/PCB manufacturing source not established. [3]
firmwarenot found · License not fully assessed
Source/reuse for commercial motor/driver firmware not established. [7]
softwareavailable · License not fully assessed
ROS 2 controller and HIMLoco adaptation source exists; package declarations differ and some remain unfinished. [5]
model weightsavailable · License not fully assessed
May22_0943.pt payload retained and container inspected, not executed; weight rights unresolved. [2]
documentationavailable · License not fully assessed
README and workflow docs available; no blanket documentation/media grant established. [1]

Outside this entry’s scoped hardware/design or simulation contribution.

Assess rights by artifact

The pinned tree has no project-wide license. Some ROS package manifests declare Apache-2.0 or BSD, while core hardware/motor packages retain unfinished license declarations. A license inside a nested motor-test package does not settle the mechanical assembly, trained policy, figures or the entire control stack. The catalog links to these sources without redistributing their CAD or media. No numerical benchmark, training, fabrication or physical robot test was performed. [7]

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history