Python package to simplify working with Drake in combination with airo-mono.
Key motivation:
- πBatteries 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!
Use cases - we currently use Drake mainly for:
- π¨ Visualization
- π₯ Collision checking
- β±οΈ Time parameterization of paths
Features:
- ποΈ Help building scenes
- π Visualization functions for TCP poses, IK solutions, robot arm trajectories
- π Converting
airo-monotypes to Drake types
Design choices:
- π Lightweight: We try to limit duplicating or wrapping Drake, and prefer adding examples over convenience functions.
- π 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.
Complete the Installation π§ and then dive right into the notebooks π!
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.
See the airo-mono developer guide.
A very similar process and tools are used for this package.
See airo-models, releasing airo-drake works the same way.
