MEVIUS
Based on published sources · Not tested by us ·
Overview
Twelve-joint quadruped with purchased actuators and fabricated metal parts; its preserved ROS 1 control snapshot warns that the supplied policy is not very stable. [S001]
MEVIUS is a quadruped whose reference configuration has twelve AK70-10 actuators and three controlled joints per leg. Its sources combine fabricated metal structures, a purchased-component parts list, ROS 1 control code and learned locomotion. The preserved README explicitly warns that its supplied policy is simple and not very stable; its statement that an improved policy will be uploaded is not evidence that this snapshot contains that improvement. [S001] [S006] [S008]
Specifications
| Detail | Description |
|---|---|
| Type | Quadruped with three controlled joints per leg. Reported by source [S001] [S008] · Checked 2026-09-30 |
| Intended users | Researchers equipped for metal fabrication, CAN actuator integration and learned locomotion experiments Editorial assessment [S001] · Checked 2026-09-30 |
| Assembly | External STEP manufacturing/assembly links and a parts list; complete assembly, wiring and commissioning have not been reproduced. Availability of filenames and links is not evidence of a complete manufacturing package. Editorial assessment [S005] [S007] · Checked 2026-09-30 |
| Calibration | Not known |
| Operating system | Not known |
| Computer needed | Not known |
3D preview
Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.
Assembly and use
A concrete reference build, with incomplete cost coverage
The parts list names welded A5052 and machined A7075 components, printed calf/foot parts, an Intel NUC12WSKi7, ESD CAN-USB/2 and RealSense T265. The linked folder lists an assembly STEP file, manufacturing STEP files, printing files and a URDF-model folder. These links and document text were inspected, but the raw assembly transfer failed and no geometry or fit checks were performed. [S005] [S006] [S007]
The spreadsheet displays a US$12,390.09143 reference sum and a US$5,304.105714 low-price sum. Printed parts and screws are unpriced. The low-price column also substitutes components and removes the wireless emergency-stop cost, so it is not a like-for-like validated build budget or a recommended configuration. Neither sum is a current delivered quote. [S006]
The software route is revision-specific
The README builds with catkin, launches roscore and uses realsense-ros's ros1-legacy T265 configuration. Its learning instructions select haraduka/legged_gym's mevius branch and describe two training phases with command and friction-range changes, followed by policy export. A MuJoCo --sim option is documented. The pinned archive contains models/policy.pt, but no installation, training reproduction or physical walking test was performed here. [S001] [S009]
CAN identities, direction signs and standby angles are explicit in parameters.py. These are configuration evidence, not proof that another assembly is calibrated. The README's warning about the supplied policy should be resolved against a specific updated revision before relying on later performance claims. [S001] [S008]
Reuse rights are separate across layers
The repository carries MIT, while its README attributes helpers to IsaacGym, LeggedGym and a separate T-Motor driver. External training dependencies, inherited code and weight provenance require their own checks. The linked hardware README does not state an explicit hardware license in the inspected text, so repository MIT is not extended automatically to the Drive STEP files. Motor MIT mode refers to the actuator protocol rather than copyright terms. [S001] [S003] [S005]
The useful result is a documented research configuration with preserved software and model artifacts, plus linked fabrication sources. Complete manufacturing validation, external hardware rights, stable-policy matching and a current full build budget remain open. [S001] [S005] [S006] [S009]
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
Available project sources support research coverage; complete build and commercial qualification remain separate.
| Layer | Availability / license |
|---|---|
| mechanical design | available · License not fully assessed External STEP assembly and manufacturing folders are listed; explicit external hardware license and complete assembly validation not established. Raw STEP transfer to local workspace returned HTTP 403. [S005] [S007] |
| electronics | not found · License not fully assessed Purchased electronics BOM is supplied; no complete board-manufacturing source established. [S006] |
| firmware | not found · License not fully assessed Vendor actuator configuration is required; open actuator firmware source not established. Motor MIT mode is a protocol mode, not a copyright license. [S001] |
| software | available · MIT Root license applies as declared by repository; README attributes inherited helpers to IsaacGym, LeggedGym and a third-party T-Motor driver. Their full provenance and external training dependency terms remain separate. [S001] [S003] |
| model weights | available · License not fully assessed Pinned archive contains policy.pt; separate weight-specific rights, training provenance and reproduced performance not established. [S001] [S009] |
| documentation | available · MIT MIT identification is scoped to repository documentation; external Drive documents do not show a separate rights grant in the inspected text. [S001] [S003] [S005] [S006] |
Selected workflow trains locomotion in simulation; no separately distributed dataset is selected.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · haraduka / project contributors
Upstream project overview
Accessed 2026-09-30 · README.mdSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S002 · haraduka / project contributors
Repository revision and release metadata
Accessed 2026-09-30 · 35fdb6ca6b9e0f4fb441126ec95b88e1c5586cadSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S003 · haraduka / project contributors
Repository license
Accessed 2026-09-30 · LICENSESource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S004 · haraduka / project contributors
Pinned repository artifact inventory
Accessed 2026-09-30 · 35fdb6ca6b9e0f4fb441126ec95b88e1c5586cad archive file inventorySource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S005 · haraduka / project contributors
MEVIUS linked hardware readme
Accessed 2026-09-30 · Drive readable-text snapshot; modified 2025-03-19T10:39:32.700ZSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S006 · haraduka / project contributors
MEVIUS linked hardware parts
Accessed 2026-09-30 · Drive readable-text snapshot; modified 2025-04-29T07:16:34.291ZSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S007 · haraduka / project contributors
Linked hardware folder inventory
Accessed 2026-09-30 · Direct-child metadata; raw STEP preservation failed with HTTP 403; no geometry validationSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S008 · haraduka / project contributors
Pinned robot joint configuration
Accessed 2026-09-30 · scripts/parameters.pySource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S009 · haraduka / project contributors
Complete pinned repository filenames
Accessed 2026-09-30 · Complete archive filename inventory; not a completeness testSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1