Metadata-Version: 2.1
Name: upkie_description
Version: 1.3.0
Summary: URDF description for the Upkie wheeled biped.
Author-email: Stéphane Caron <stephane.caron@normalesup.org>
Maintainer-email: Stéphane Caron <stephane.caron@normalesup.org>
Requires-Python: >=3.7
Description-Content-Type: text/markdown
Classifier: Development Status :: 4 - Beta
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.7
Classifier: Programming Language :: Python :: 3.8
Classifier: Programming Language :: Python :: 3.9
Classifier: Topic :: Scientific/Engineering :: Mathematics
Classifier: Topic :: Scientific/Engineering :: Physics
Project-URL: Changelog, https://github.com/tasts-robots/upkie_description/blob/master/CHANGELOG.md
Project-URL: Source, https://github.com/tasts-robots/upkie_description
Project-URL: Tracker, https://github.com/tasts-robots/upkie_description/issues

# Upkie wheeled biped robot

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

[![PyPI version](https://img.shields.io/pypi/v/upkie_description)](https://pypi.org/project/upkie_description/)

URDF description for the [Upkie](https://hackaday.io/project/185729-upkie-wheeled-biped-robot) wheeled biped. 

## Installation

```
pip install upkie_description
```

## Usage

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

```python
import upkie_description
```

You can then load the description directly in a robotics framework, for instance in [Pinocchio](https://github.com/stack-of-tasks/pinocchio):

```python
robot = upkie_description.load_in_pinocchio()
```

The module also provides the following paths:

<dl>
    <dt>
        <code>upkie_description.path</code>
    </dt>
    <dd>
        Path to the "upkie_description" folder itself.
    </dd>
    <dt>
        <code>upkie_description.meshes_path</code>
    </dt>
    <dd>
        Path to the "meshes" folder.
    </dd>
    <dt>
        <code>upkie_description.urdf_path</code>
    </dt>
    <dd>
        Path to the URDF file of the model.
    </dd>
</dl>

## Acknowledgements

Upkie's torso derives from the chassis of the [mjbots quad](https://github.com/mjbots/quad).

