Curated URDFs and 3D models of the robots and gripper used at airo.
airo-models
is available on PyPi and can be installed with pip:
pip install airo-models
Example of loading a URDF from airo-models, customizing it and writing it to a temporary file:
import airo_models
robotiq_urdf_path = airo_models.get_urdf_path("robotiq_2f_85")
robotiq_urdf = airo_models.urdf.read_urdf(robotiq_urdf_path)
# Make the robotiq gripper static
airo_models.urdf.replace_value(robotiq_urdf, "@type", "revolute", "fixed")
airo_models.urdf.delete_key(robotiq_urdf, "mimic")
airo_models.urdf.delete_key(robotiq_urdf, "transmission")
# Write it to a temporary file to read later with Drake's AddModelFromFile
robotiq_static_urdf_path = airo_models.urdf.write_urdf_to_tempfile(
robotiq_urdf, robotiq_urdf_path, prefix="robotiq_2f_85_static_"
)
To check which models are available:
from airo_models.files import AIRO_MODEL_NAMES
print(AIRO_MODEL_NAMES)
>>> ['ur3e', 'ur5e', 'robotiq_2f_85']
- Clone this repo
- Create the conda environment
conda env create -f environment.yaml
- Initialize the pre-commit hooks
pre-commit install
- Run the tests with
pytest .
Releasing to PyPi is done automatically by github actions when a new tag is pushed to the main branch.
- Update the version in
pyproject.toml
. git add pyproject.toml
git commit -m ""
git push
git tag -a v0.1.0 -m "airo-models v0.1.0"
git push origin v0.1.0
This was set up following this guide first and then this guide.