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Upkie wheeled biped description

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

• Joint limits
• Location of the IMU

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 the Upkie project and its contributors:

@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 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.