Legged Robots Python Packages

gaitkeeper

find why a humanoid locomotion policy fails between simulators: contract, physics, or task. MuJoCo, CPU.

upkie

Open-source wheeled biped robots

humanoid-companion

A small humanoid robot you can talk to: walks with a reinforcement-learned policy, waves and dances, shows a face with lip sync and speaks - its brain is a local LLM you run yourself (Ollama or any OpenAI-compatible API). MuJoCo simulation, sim-to-real.

upkie-description

URDF and Xacro descriptions for Upkie wheeled bipeds

efferent

Universal ONNX policy deployment for robots. Any trained control policy, any hardware, bound by name not index. Ships a zero-config preflight doctor that catches wiring bugs before the robot moves.

rex-gym

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

upkie-locomotion

Open-source wheeled biped robots