Metadata-Version: 2.4
Name: cookie_description
Version: 1.2.0
Summary: Robot description for Cookie.
Author-email: Stéphane Caron <stephane.caron@normalesup.org>
Maintainer-email: Stéphane Caron <stephane.caron@normalesup.org>
Requires-Python: >=3.10
Description-Content-Type: text/markdown
Classifier: Development Status :: 5 - Production/Stable
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Classifier: Programming Language :: Python :: 3.12
Classifier: Programming Language :: Python :: 3.13
Classifier: Topic :: Scientific/Engineering :: Mathematics
Classifier: Topic :: Scientific/Engineering :: Physics
License-File: LICENSE
Project-URL: Changelog, https://codeberg.org/stephane-caron/cookie_description/blob/master/CHANGELOG.md
Project-URL: Source, https://codeberg.org/stephane-caron/cookie_description
Project-URL: Tracker, https://codeberg.org/stephane-caron/cookie_description/issues

# Cookie wheeled biped robot

<img src="https://codeberg.org/attachments/44bacf93-e762-4076-87fa-3ee2c5b251ca" align="right" width="300">

[![CI](https://ci.codeberg.org/api/badges/16811/status.svg)](https://ci.codeberg.org/repos/16811)
[![Conda version](https://img.shields.io/conda/vn/conda-forge/cookie_description.svg)](https://anaconda.org/conda-forge/cookie_description)
[![PyPI version](https://img.shields.io/pypi/v/cookie_description)](https://pypi.org/project/cookie_description/)

URDF and Xacro descriptions for [Cookie](https://github.com/orgs/upkie/discussions/545), an original redesign of [Upkie wheeled bipeds](https://github.com/upkie/upkie).

## Checking it out

You can use [pixi](https://pixi.prefix.dev/) to check out the robot description directly from the command line:

```shell
# Display a Cookie in Viser
pixi run visualize

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

Or similarly with [uv](https://docs.astral.sh/uv/):

```shell
# 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:

```python
import cookie_description
```

The module provides the following paths:

<dl>
    <dt>
        <code>cookie_description.PATH</code>
    </dt>
    <dd>
        Path to the "cookie_description" folder itself.
    </dd>
    <dt>
        <code>cookie_description.MESHES_PATH</code>
    </dt>
    <dd>
        Path to the "meshes" folder.
    </dd>
    <dt>
        <code>cookie_description.URDF_PATH</code>
    </dt>
    <dd>
        Path to the URDF file of the model.
    </dd>
    <dt>
        <code>cookie_description.XACRO_PATH</code>
    </dt>
    <dd>
        Path to the Xacro file of the model.
    </dd>
</dl>

