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https://github.com/airo-ugent/airo-models

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

https://github.com/airo-ugent/airo-models

Science Score: 13.0%

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    Low similarity (12.9%) to scientific vocabulary
Last synced: 10 months ago · JSON representation

Repository

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

Basic Info
  • Host: GitHub
  • Owner: airo-ugent
  • License: mit
  • Language: Python
  • Default Branch: main
  • Size: 13.7 MB
Statistics
  • Stars: 2
  • Watchers: 3
  • Forks: 2
  • Open Issues: 2
  • Releases: 9
Created over 2 years ago · Last pushed over 1 year ago
Metadata Files
Readme License

README.md

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: ```python import airo_models

robotiqurdfpath = airomodels.geturdfpath("robotiq2f85") robotiqurdf = airomodels.urdf.readurdf(robotiqurdfpath)

Make the robotiq gripper static

airomodels.urdf.replacevalue(robotiqurdf, "@type", "revolute", "fixed") airomodels.urdf.deletekey(robotiqurdf, "mimic") airomodels.urdf.deletekey(robotiq_urdf, "transmission")

Write it to a temporary file to read later with Drake's AddModelFromFile

robotiqstaticurdfpath = airomodels.urdf.writeurdftotempfile( robotiqurdf, robotiqurdfpath, prefix="robotiq2f85static" ) ```

To check which models are available: ```python from airomodels.files import AIROMODEL_NAMES

print(AIROMODELNAMES)

['ur3e', 'ur5e', 'robotiq2f85'] ```

Modeling conventions

The standard convention we follow is X+ forward, Z+ up.

For cameras, we follow Z+ forward through the eye of the camera, X+ right. The origin of the camera is at the center of the (left) lens. Left is defined egocentric of the camera (i.e. looking out of the eyes of the camera).

For grippers, we follow Z+ pointing outwards from the fingers and X in the direction in which the parallel gripper closes its fingers. The origin of the gripper (base_link) is at the mounting point of its base.

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.

Owner

  • Name: AIRO UGent
  • Login: airo-ugent
  • Kind: organization

GitHub Events

Total
  • Issues event: 2
  • Watch event: 1
  • Delete event: 1
  • Push event: 6
  • Pull request event: 1
  • Create event: 2
Last Year
  • Issues event: 2
  • Watch event: 1
  • Delete event: 1
  • Push event: 6
  • Pull request event: 1
  • Create event: 2

Issues and Pull Requests

Last synced: 10 months ago

All Time
  • Total issues: 1
  • Total pull requests: 1
  • Average time to close issues: about 1 month
  • Average time to close pull requests: N/A
  • Total issue authors: 1
  • Total pull request authors: 1
  • Average comments per issue: 0.0
  • Average comments per pull request: 0.0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 1
  • Pull requests: 1
  • Average time to close issues: about 1 month
  • Average time to close pull requests: N/A
  • Issue authors: 1
  • Pull request authors: 1
  • Average comments per issue: 0.0
  • Average comments per pull request: 0.0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
  • Victorlouisdg (3)
  • m-decoster (1)
Pull Request Authors
  • m-decoster (3)
  • adverley (1)
Top Labels
Issue Labels
enhancement (2) good first issue (2) documentation (1)
Pull Request Labels

Dependencies

.github/workflows/mypy.yaml actions
  • actions/checkout v2 composite
  • actions/setup-python v2 composite
  • mamba-org/provision-with-micromamba main composite
.github/workflows/pre-commit.yaml actions
  • actions/checkout v2 composite
  • actions/setup-python v2 composite
  • pre-commit/action v2.0.3 composite
.github/workflows/publish-to-pypi.yaml actions
  • actions/checkout v4 composite
  • actions/download-artifact v3 composite
  • actions/setup-python v4 composite
  • actions/upload-artifact v3 composite
  • pypa/gh-action-pypi-publish release/v1 composite
  • sigstore/gh-action-sigstore-python v1.2.3 composite
.github/workflows/pytest.yaml actions
  • actions/checkout v2 composite
  • mamba-org/provision-with-micromamba main composite
pyproject.toml pypi
setup.py pypi
environment.yaml pypi
  • darglint *
  • mypy *
  • numpy *
  • pre-commit *
  • pytest *