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: 8 months 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 3 years ago)
- Default Branch: main
- Last Pushed: 2025-02-20T12:55:59.000Z (9 months ago)
- Last Synced: 2025-04-02T03:57:17.502Z (8 months ago)
- Topics: legged-robots, robot, robot-model, urdf, urdf-descriptions, urdf-models, wheeled-biped
- Language: Python
- Homepage:
- Size: 11 MB
- Stars: 35
- 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
[](https://github.com/upkie/upkie_description/actions)
[](https://upkie.github.io/upkie/index.html)
[](https://anaconda.org/conda-forge/upkie_description)
[](https://pypi.org/project/upkie_description/)
URDF descriptions for [Upkie](https://github.com/upkie/upkie) wheeled bipeds.
The Upkie documentation also details properties of this model and how it was constructed:
- [Joint limits](https://upkie.github.io/upkie/kinematics.html#joint-limits)
- [Location of IMU and anchor frames](https://upkie.github.io/upkie/kinematics.html#frames)
- [Model conventions](https://upkie.github.io/upkie/kinematics.html#model-conventions)
## 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.
## Citation
If you use this description in your works, please cite the Upkie project and its contributors:
```bibtex
@software{upkie,
title = {{Upkie open source wheeled biped robot}},
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},
url = {https://github.com/upkie/upkie},
license = {Apache-2.0},
version = {6.0.0},
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.
## See also
- [Upkie](https://github.com/upkie/upkie): main repository for the robot's hardware and software
- [3D printed parts](https://github.com/upkie/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!