Cookie wheeled biped robot

URDF and Xacro descriptions for Cookie, an original redesign of Upkie wheeled bipeds.

Checking it out

You can use pixi to check out the robot description directly from the command line:

# Display a Cookie in Viser
pixi run visualize

# Simulate a Cookie in PyBullet
pixi run load-in-pybullet

Or similarly with uv:

# Display a Cookie in Viser
uvx --with numpy --with pin --with viser --with watchdog --with xacrodoc cookie_description visualize

# Simulate a Cookie in PyBullet
uvx --with loop-rate-limiters --with pybullet cookie_description load-in-pybullet

Loading the description

The cookie_description module helps retrieve the robot description in Python. It can be installed from PyPI:

pip install cookie_description

Start by importing it:

import cookie_description

The module provides the following paths:

cookie_description.PATH

Path to the "cookie_description" folder itself.

cookie_description.MESHES_PATH

Path to the "meshes" folder.

cookie_description.URDF_PATH

Path to the URDF file of the model.

cookie_description.XACRO_PATH

Path to the Xacro file of the model.