https://github.com/upkie/upkie_description

URDF descriptions for Upkie wheeled bipeds
https://github.com/upkie/upkie_description

legged-robots robot robot-model urdf urdf-descriptions urdf-models wheeled-biped

Last synced: 24 days ago
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URDF descriptions for Upkie wheeled bipeds

• Host: GitHub
• URL: https://github.com/upkie/upkie_description
• Owner: upkie
• License: apache-2.0
• Created: 2022-03-17T16:35:52.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-10-14T12:30:57.000Z (about 2 months ago)
• Last Synced: 2024-11-07T10:03:13.143Z (about 1 month ago)
• Topics: legged-robots, robot, robot-model, urdf, urdf-descriptions, urdf-models, wheeled-biped
• Language: Python
• Homepage:
• Size: 11 MB
• Stars: 33
• Watchers: 1
• Forks: 7
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-legged-locomotion-learning - URDF - 2.0 | ✔️ | ✔️ | ✔️ | (Robot models / Bipeds)
• awesome-robot-descriptions - URDF - 2.0 | ✔️ | ✔️ | ✔️ | (Robot Descriptions / Bipeds)

README

        
# Upkie wheeled biped description



[![Packaging](https://img.shields.io/github/actions/workflow/status/upkie/upkie_description/packaging.yml?branch=main)](https://github.com/upkie/upkie_description/actions)

[![Documentation](https://img.shields.io/badge/docs-wiki-brightgreen?style=flat)](https://github.com/upkie/upkie_description/wiki)

[![Conda version](https://img.shields.io/conda/vn/conda-forge/upkie_description.svg)](https://anaconda.org/conda-forge/upkie_description)

[![PyPI version](https://img.shields.io/pypi/v/upkie_description)](https://pypi.org/project/upkie_description/)

URDF descriptions for [Upkie](https://github.com/upkie/upkie) wheeled bipeds.

## Python module

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

```python

import upkie_description

robot = upkie_description.load_in_pinocchio()

```

Check out the [Python readme](python/README.md) for more details.

## Documentation

- [Joint limits](https://github.com/upkie/upkie_description/wiki/Joint-limits)

- [Location of the IMU](https://github.com/upkie/upkie_description/wiki/IMU-frame)

## See also

- [Upkie](https://github.com/upkie/upkie): main repository for the robot's hardware and software

- [3D printed parts](https://github.com/upkie/parts): CAD files and add-ons for the robot

- [xacrodoc](https://github.com/adamheins/xacrodoc): compile xacro files without ROS, helped this project a lot!

## Citation

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

```bibtex

@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](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.