upkie_description

URDF description for the Upkie wheeled biped.


Keywords
legged-robots, robot, robot-model, urdf, urdf-descriptions, urdf-models, wheeled-biped
License
Apache-2.0
Install
pip install upkie_description==1.1.1

Documentation

Upkie wheeled biped description

Packaging Documentation Conda version PyPI version

URDF descriptions for Upkie wheeled bipeds.

Python module

The description can be loaded directly in various Python robotics frameworks, for instance:

import upkie_description

robot = upkie_description.load_in_pinocchio()

Check out the Python readme for more details.

Documentation

See also

  • Upkie: main repository for the robot's hardware and software
  • 3D printed parts: CAD files and add-ons for the robot
  • xacrodoc: compile xacro files without ROS, helped this project a lot!

Citation

If you use this description in your works, please cite as follows:

@software{upkie_description,
  author = {Caron, Stéphane and Tordjman--Levavasseur, Valentin},
  license = {Apache-2.0},
  title = {{Upkie wheeled biped description}},
  url = {https://github.com/upkie/upkie_description},
  version = {2.1.0},
  year = {2024}
}

License

The Apache 2.0 license applies to all files in this repository, to the exception of the wheel_tire mesh which is under the CC BY 4.0 license. Meshes from mjbots, as well as the torso meshes derived from the mjbots quad, are also Apache 2.0.