gizatt / pydrake_kuka

Pydrake Kuka Sandbox and Utilities

HOW TO RUN WITH DOCKER

1. Run python docker_build.py. This builds a Docker image named pydrake_kuka, built against (by default) the latest Drake binaries.
2. Run python docker_run.py. This runs the above Docker image, giving you a terminal inside of the Docker container from which you can use the code. The contents of this repo are available in the directory /pydrake_kuka, and it's kept in sync with the files on the host computer, so feel free to tweak things in a text editor outside of the container. Things you can try:

• Run cd /pydrake_kuka && ./run_tests.sh, and point a browser to <127.0.0.1:7000/static/> to watch the robot go through an automated cutting test.
• Break the terminal into multiple prompts with your favorite terminal multiplexer (e.g. screen, tmux), run meshcat-server in one (and then go to its specified URL to see the visualization), and run python /pydrake_kuka/kuka_cutting_sim.py -N 2 -T 5. to run the cutting sim yourself.

To run the Kuka simulation, first run meshcat-server in a new terminal. It should report a web-url -- something like 127.0.0.1:7000/static/. Open that in a browser -- this is your 3D viewer. Then run python kuka_pydrake_sim.py and you should see the arm spawn in the viewer before doing some movements.