m-decoster / airo-models

Curated URDFs and 3D models of the robots and gripper used at airo.

airo-models

Curated URDFs and 3D models of the robots and gripper used at airo.

Installation

airo-models is available on PyPi and can be installed with pip:

pip install airo-models

Usage

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']

Development

Local installation

• 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

Releasing to PyPi is done automatically by github actions when a new tag is pushed to the main branch.

1. Update the version in pyproject.toml.
2. git add pyproject.toml
3. git commit -m ""
4. git push
5. git tag -a v0.1.0 -m "airo-models v0.1.0"
6. git push origin v0.1.0

This was set up following this guide first and then this guide.