airo-drake 0.0.6

Integration between airo-mono and Drake.

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-drake aims 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-mono types 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.