URDF description for the Upkie wheeled biped.
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.
| Joint | Limit | Value (±) | Unit |
|---|---|---|---|
| Hip | Position | 0.2 | rev |
| Hip | Velocity | 2 | rps |
| Hip | Torque | 10 | Nm |
| Knee | Position | 0.4 | rev |
| Knee | Velocity | 2 | rps |
| Knee | Torque | 10 | Nm |
| Wheel | Position | - | - |
| Wheel | Velocity | 8 | rps |
| Wheel | Torque | 1 | Nm |
Upkie's torso derives from the chassis of the mjbots quad. 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 are also Apache 2.0. See the files in their respective folders for more details.