# upkie_description

**Repository Path**: moondown/upkie_description

## Basic Information

- **Project Name**: upkie_description
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: feature/torso
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-04-22
- **Last Updated**: 2025-04-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Upkie wheeled biped robot

<img src="https://user-images.githubusercontent.com/1189580/169594012-2d685579-2b66-4470-9def-57bd0656b420.png" align="right" width="300">

[![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-read-brightgreen?logo=read-the-docs&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!

## 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.