URDF descriptions for Upkie wheeled bipeds.
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.
- 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!
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}
}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.
