Upkie

Built by:   Upkie
Licence:    Apache-2.0
Source:     https://github.com/upkie/upkie_description/tree/19a91ce69cab6742c613cab104986e3f8a18d6a5
Commit:     19a91ce69cab6742c613cab104986e3f8a18d6a5
Collection: upkie/upkie_description
Packaged:   2026-08-28 by urdfbase.com/models/upkie/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - joint "left_hip" has a velocity limit of 28.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "left_knee" has a velocity limit of 28.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "left_wheel" has a velocity limit of 111, which MJCF does not store on the joint — enforce it in the controller
  - joint "right_hip" has a velocity limit of 28.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "right_knee" has a velocity limit of 28.8, which MJCF does not store on the joint — enforce it in the controller
  - joint "right_wheel" has a velocity limit of 111, which MJCF does not store on the joint — enforce it in the controller

The robot belongs to the people who built it. Credit the source, not this site.
