Integration between airo-mono and Drake.
Project description
airo-drake
Python package to simplify working with Drake in combination with airo-mono.
Key motivation:
- 🔋Batteries included: Drake is a powerful robotics toolbox, but it can have a steep learning curve.
If you've worked with Drake, you likely ended up deep in the C++ documentation or in Russ Tedrake's manipulation repo looking for guidance.
airo-drakeaims to be a batteries included Python package to get you up and running quickly with your own robot scenes in Drake!
Overview 🧾
Use cases - we currently use Drake mainly for:
- 🎨 Visualization
- 💥 Collision checking
- ⏱️ Time parameterization of paths
Features:
- 🏗️ Help building scenes
- 📈 Visualization functions for TCP poses, IK solutions, robot arm trajectories
- 🔄 Converting
airo-monotypes to Drake types
Design choices:
- 🍃 Lightweight: We try to limit duplicating or wrapping Drake, and prefer adding examples over convenience functions.
- 🔓 Opt-in: drake can function as full blown physics simulator, but for many use cases you dont need it, so we make sure this is opt-in.
Getting started 🚀
Complete the Installation 🔧 and then dive right into the notebooks 📔!
Installation 🔧
airo-drake is available on PyPi and installable with pip:
pip install airo-drake
However it depends on airo-typing from airo-mono which is not on PyPi, so you have to install that yourself.
Developer guide 🛠️
See the airo-mono developer guide.
A very similar process and tools are used for this package.
Releasing 🏷️
See airo-models, releasing airo-drake works the same way.
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