pink
upkie
| pink | upkie | |
|---|---|---|
| 3 | 2 | |
| 153 | 113 | |
| 20.3% | 12.4% | |
| 9.3 | 9.9 | |
| 6 days ago | 8 days ago | |
| Python | Python | |
| Apache License 2.0 | Apache License 2.0 |
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For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
pink
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Help! After adding a chest (incl battery and two servos for the shoulders) my humanoid Kayra the same gait pattern doesn't work anymore. Here's a video contrasting with vs without chest. What are the top five improvements you'd suggest?
pink
- Python inverse kinematics for articulated robot models, based on Pinocchio
upkie
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Sim-to-real RL pipeline for open-source wheeled bipeds
The latest release (v3.0.0) of Upkie's software brings a functional sim-to-real reinforcement learning pipeline based on Stable Baselines3, with standard sim-to-real tricks. The pipeline trains on the Gymnasium environments distributed in upkie.envs (setup: pip install upkie) and is implemented in the PPO balancer. Here is a policy running on an Upkie:
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Help! After adding a chest (incl battery and two servos for the shoulders) my humanoid Kayra the same gait pattern doesn't work anymore. Here's a video contrasting with vs without chest. What are the top five improvements you'd suggest?
git clone https://github.com/tasts-robots/upkie_locomotion.git cd upkie_locomotion ./tools/bazelisk run -c opt //agents/blue_balancer:bullet
What are some alternatives?
phobos - An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.
kayra - an easy to modify, 3d printable open source humanoid robot evolved by the community
onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API
rbdl-orb - RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints
lipm_walking_controller - Walking controller for humanoid robots based on inverted pendulum tracking
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
IKBT - A python package to solve robot arm inverse kinematics in symbolic form
dkt - A Tutorial on Manipulator Differential Kinematics
upkie_description - URDF model for Upkie wheeled bipeds