{"id":13635454,"url":"https://github.com/upkie/upkie_description","last_synced_at":"2025-04-09T07:10:13.143Z","repository":{"id":65420856,"uuid":"471061195","full_name":"upkie/upkie_description","owner":"upkie","description":"URDF descriptions for Upkie wheeled 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models","Robot Descriptions"],"sub_categories":["Bipeds"],"readme":"# Upkie wheeled biped description\n\n\u003cimg src=\"https://user-images.githubusercontent.com/1189580/169594012-2d685579-2b66-4470-9def-57bd0656b420.png\" align=\"right\" width=\"300\"\u003e\n\n[![Packaging](https://img.shields.io/github/actions/workflow/status/upkie/upkie_description/packaging.yml?branch=main)](https://github.com/upkie/upkie_description/actions)\n[![Documentation](https://img.shields.io/badge/docs-wiki-brightgreen?style=flat)](https://upkie.github.io/upkie/index.html)\n[![Conda version](https://img.shields.io/conda/vn/conda-forge/upkie_description.svg)](https://anaconda.org/conda-forge/upkie_description)\n[![PyPI version](https://img.shields.io/pypi/v/upkie_description)](https://pypi.org/project/upkie_description/)\n\nURDF descriptions for [Upkie](https://github.com/upkie/upkie) wheeled bipeds.\n\nThe Upkie documentation also details properties of this model and how it was constructed:\n\n- [Joint limits](https://upkie.github.io/upkie/kinematics.html#joint-limits)\n- [Location of IMU and anchor frames](https://upkie.github.io/upkie/kinematics.html#frames)\n- [Model conventions](https://upkie.github.io/upkie/kinematics.html#model-conventions)\n\n## Python module\n\nThe description can be loaded directly in various Python robotics frameworks, for instance:\n\n```python\nimport upkie_description\n\nrobot = upkie_description.load_in_pinocchio()\n```\n\nCheck out the [Python readme](python/README.md) for more details.\n\n## Citation\n\nIf you use this description in your works, please cite the Upkie project and its contributors:\n\n```bibtex\n@software{upkie,\n  title = {{Upkie open source wheeled biped robot}},\n  author = {Caron, St\\'{e}phane and Perrin-Gilbert, Nicolas and Ledoux, Viviane and G\\\"{o}kbakan, \\\"{Umit} Bora and Raverdy, Pierre-Guillaume and Raffin, Antonin and Tordjman--Levavasseur, Valentin},\n  url = {https://github.com/upkie/upkie},\n  license = {Apache-2.0},\n  version = {6.0.0},\n  year = {2024}\n}\n```\n\n## License\n\nThe Apache 2.0 license applies to all files in this repository, to the exception of the [wheel\\_tire](meshes/wheel_tire) mesh which is under the CC BY 4.0 license. Meshes from [mjbots](meshes/mjbots), as well as the torso meshes derived from the [mjbots quad](https://github.com/mjbots/quad), are also Apache 2.0.\n\n## See also\n\n- [Upkie](https://github.com/upkie/upkie): main repository for the robot's hardware and software\n- [3D printed parts](https://github.com/upkie/upkie_parts): CAD files and add-ons for the robot\n- [xacrodoc](https://github.com/adamheins/xacrodoc): compile xacro files without ROS, helped this project a lot!\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fupkie%2Fupkie_description","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fupkie%2Fupkie_description","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fupkie%2Fupkie_description/lists"}