Stack Overflow
Stack Overflow

Questions tagged [drake]

Drake is an open-source toolbox for planning, control, and analysis of nonlinear systems, developed in C++ with bindings available in Python.

Drake is an open-source toolbox for planning, control, and analysis of nonlinear systems, developed in C++ with bindings available in Python.

Resources

692 questions
0
votes
2 answers

Recursion Error while evaluating contact information

I am trying to access the contact information of the plant as below, by declaring an AbstractInputPort following this comment. self.DeclareAbstractInputPort('contact_force', AbstractValue.Make(ContactResults())) Then I an trying to access the…
nightmareforev
  • 1
  • 3
0
votes
1 answer

Pydrake: Creating a Trajectory Source for RigidTransformations

I've been trying to create a TrajectorySource for RigidTransforms to pass into a DifferentialInverseKinematicsIntegrator which only takes in RigidTransforms in its input port. def createTraj(time, pose): times = [] poses = [] for step in…
Leo Xu
  • 15
  • 3
0
votes
1 answer

Encounter "RuntimeError: The operating system's C++ standard library is not installed correctly" when build drake from source using bazel

System:Ubuntu 18.04 I am trying to build Drake from source using Bazel, I have installed the prerequisite using the provided install_prereqs.sh. However, when I am trying to build drake from source, I encounter a strange problem. It turns out to…
Chen Wang
  • 448
  • 2
  • 11
0
votes
1 answer

sliding_friction_complementarity_constraint for a box manipulation

I want to do the project that two iiwa manipulator each with a point finger to carry a box or do the job like drake Gallery’s “IIWA Bimanual Manipulation”, based on trajectory optimization method in drake. So I start with a simple test that a…
kiwiwan
  • 1
0
votes
0 answers

Solver options ignored?

solver = SnoptSolver() options = SolverOptions() options.SetOption(solver.id(), "Time limit", 2) options.SetOption(solver.id(), "Major iterations limit", 200) options.SetOption(solver.id(), "Minor iterations limit", 100) result = solver.Solve(prog,…
EpsilonGreedy
  • 83
  • 5
0
votes
1 answer

How to use inverse dynamics controller on under-actuated systems

I'm trying to use Drake's inverse dyanmics controller on an arm with a floating base, and based on this discussion it seems like the most straightforward way to go about this is to use two separate plants since the controller only supports fully…
Amy
  • 23
  • 4
0
votes
2 answers

Drake source install on Ubuntu 20.04: Could NOT find Python

I'm trying to build drake from source on Ubuntu 20.04 by following instructions from here. I already checked that my system meets all the requirements, and was ale to successfully run the mandatory platform-specific setup script (and it completed…
njk23
  • 77
  • 1
  • 10
0
votes
1 answer

How to hold decision variables fixed in Drake

I want to perform Lyapunov function coefficient optimization using alternations, which requires holding a subset of decision variables fixed while optimizing another subset. How do I hold certain decision variables fixed in Drake?
noopygbhat
  • 63
  • 5
0
votes
1 answer

drake visualizer not showing kuka iiwa simulation

I tried to run the kuka simulation in drake from both source and the binary release but it fails. The error message is : ERROR: In /vtk/IO/Import/vtkOBJImporter.cxx, line 495 vtkOBJPolyDataProcessor (0x55bb85982d30): Error reading 'v' at line 3 I…
alessandro
  • 3
  • 1
0
votes
1 answer

Print values of constraint at each iteration during optimization

How can we do this from Pydrake? Print values of constraint at each iteration during optimization EDIT 1: I tried: def update(n): print(n) prog.AddVisualizationCallback(update, n) in accordance with the example here at the bottom:…
EpsilonGreedy
  • 83
  • 5
0
votes
1 answer

How to access the Optimization Solution formulated using Drake Toolbox

A c++ novice here! The verbose in the terminal output says the problem is solved successfully, but I am not able to access the solution. What is the problem with the last line? drake::solvers::MathematicalProgram prog; auto x =…
skywalker
  • 9
  • 1
0
votes
1 answer

How to get muiltibody plant from MakeManipulationStation()

My code: https://deepnote.com/project/IIWA-ARM-WITH-COLLISONS-VmNCT6XuS7yKITvWjqLY1g/%2Fnotebook.ipynb (should be set to anyone with link can view) Using Russ's "Set up a basic ManipulationStation diagram," I tried using a manipulation station to…
Carlos
  • 23
  • 2
0
votes
1 answer

pydrake is not available for installation anymore through google colab?

I have been using a google colab template for iterative LQR that uses the Pydrake, however, it seems like the code repository is removed and I can't reinstall it on google Colab: try: import pydrake import underactuated except ImportError: …
Randy Chen
  • 107
  • 8
0
votes
1 answer

Quadratic cost using np linalg norm doesn't work

Why does this line: prog.AddQuadraticErrorCost(np.identity(len(q)), q0, q) works. But this: prog.AddCost(np.linalg.norm(q_variables - q_nominal)**2) RuntimeError: Expression pow(sqrt((pow(q(0), 2) + pow(q(2), 2) + pow(q(4), 2) + pow(q(6),…
user3180
  • 1,369
  • 1
  • 21
  • 38
0
votes
1 answer

Autodiff clearing gradients

autodiff_diagram = diagram.ToAutoDiffXd() autodiff_context = autodiff_diagram.CreateDefaultContext() autodiff_plant = autodiff_diagram.GetSubsystemByName("plant") Let's say I want to have a bunch of random initializations and run optimization over…
user3180
  • 1,369
  • 1
  • 21
  • 38
1 2 3
…
46 47