Last year, DeepMind made "Barkour" robot dogs (Barkour == parkour + dogs bark, get it?) designed to put agility dogs out of a job. Recently, they open-sourced the hardware, including computer-aided design (CAD) and printed circuit board assembly (PCBA) designs, assembly instructions, and firmware code and other low level code.
As for software, they've released a 3D model of the robot you can use in the MuJoCo simulation system. However, they haven't release the models they created themselves with reinforcement learning. You're on your own to use the simulator and the real robots to make your own.
Video below is the video of the Barkour robots from a year ago. Link to the hardware designs is below.
Barkour: Benchmarking Animal-level Agility with Quadruped Robots - Atil Iscen
