Erect Milkpea

Perennial, Herbs, Taproot present, Nodules present, Stems erect or ascending, Stems prostrate, trailing, or mat forming, Stems less than 1 m tall, Plants with milky latex, Stems solid, Stems or young twigs glabrous or sparsely glabrate, Leaves alternate, Leaves petiolate, Stipules inconspicuous, absent, or caducous, Stipules green, triangulate to lanceolate or foliaceous, Stipules deciduous, Stipules free, Leaves compound, Leaves palmately 2-3 foliate, Leaves pinnately 3-foliolate, Leaf or leaflet margins entire, Leaflets opposite, Stipels present at base of leaflets, Leaflets 3, Leaves hairy on one or both surfaces, Flowers in axillary clusters or few-floweredracemes, 2-6 flowers, Inflorescence axillary, Bracts very small, absent or caducous, Bracteoles present, Flowers zygomorphic, Calyx 4-lobed, Calyx hairy, Petals separate, Corolla papilionaceous, Petals clawed, Petals white, Petals blue, lavander to purple, or violet, Banner petal ovoid or obovate, Wing petals narrow, oblanceolate to oblong, Keel tips obtuse or rounded, not beaked, Keel petals fused on sides or at tip, Stamens 9-10, Stamens diadelphous, 9 united, 1 free, Filaments glabrous, Style terete, Fruit a legume, Fruit unilocular, Fruit freely dehiscent, Fruit elongate, straight, Fruit exserted from calyx, Fruit internally septate between the seeds, Valves twisting or coiling after dehiscence, Fruit beaked, Fruit hairy, Fruit 3-10 seeded, Seeds reniform, Seed surface smooth, Seeds olive, brown, or black.