upkie_description 1.5.0

URDF description for the Upkie wheeled biped.

Upkie wheeled biped robot

URDF description for the Upkie wheeled biped.

Installation

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.

Acknowledgements

Upkie's torso derives from the chassis of the mjbots quad.