upkie_description 2.2.0

URDF description for the Upkie wheeled biped.

Upkie wheeled biped robot

URDF descriptions for the Upkie wheeled biped.

Installation

From conda-forge

conda install -c conda-forge upkie_description

From PyPI

pip install upkie_description

Usage

This module helps retrieve Upkie's model from a Python program. Import it by:

import upkie_description

You can then load the description directly in a robotics framework, for instance in Pinocchio:

robot = upkie_description.load_in_pinocchio()

The module also provides the following paths:

upkie_description.PATH

Path to the "upkie_description" folder itself.

upkie_description.MESHES_PATH

Path to the "meshes" folder.

upkie_description.URDF_PATH

Path to the URDF file of the model.