URDF and xacro description for Microduck — Pollen Robotics' 25 cm open-source biped that walks, sits, kicks, and learns.
microduck_description/
├── launch/urdf.launch.py — starts robot_state_publisher
├── meshes/ — 38 STL visual meshes
└── urdf/
├── microduck.urdf — pre-built standalone URDF
├── microduck.urdf.xacro — main entry point
├── microduck.common.xacro — materials and joint limits
├── microduck.links.xacro — link definitions
└── microduck.joints.xacro — joint definitions
25 cm tall, 14 cm wide, under 800 g — full spec sheet.
The URDF models 15 actuated joints across:
- Legs (10 DOF): two 5-DOF legs, each with a 3-DOF hip (yaw + roll + pitch), knee, and ankle
- Neck/head (4 DOF): neck pitch, head pitch, head yaw, head roll
- Beak (1 DOF): articulated grasping jaw
The materials in this package match the Cream colorway (cream shells, orange trim and beak, amber accents). Microduck ships in four colorways: Cream, Graphite, Lavender, and Sky.
| Joint group | Joints |
|---|---|
| Left leg | left_hip_yaw, left_hip_roll, left_hip_pitch, left_knee, left_ankle |
| Right leg | right_hip_yaw, right_hip_roll, right_hip_pitch, right_knee, right_ankle |
| Head/neck | neck_pitch, head_pitch, head_yaw, head_roll |
| Beak | jaw |
# Build
colcon build --packages-select microduck_description
# Visualize
ros2 launch microduck_description urdf.launch.pyOR use the
microduck.urdfdirectly in any URDF viewer
- Microduck product page
- Microduck press kit
- microduck_rl — MuJoCo source models and RL training stack
- Onshape CAD
- mujoco_to_urdf — MJCF→URDF conversion tool used as reference
The URDF, xacro, and launch files in this package are Apache 2.0 — see LICENSE.
The STL mesh assets originate from pollen-robotics/microduck_rl. Per the Microduck press kit, the software stack is Apache 2.0, but the mechanical and electronic design files are not covered by that statement — refer to the upstream repository for the applicable terms before redistributing the meshes.