URDF description for the Upkie wheeled biped.
Project description
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.
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