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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.

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How to visualize new poses without simulation, using VTKRenderer

builder = DiagramBuilder() plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0) parser = Parser(plant) renderer_name = "renderer" renderer = MakeRenderEngineVtk(RenderEngineVtkParams()) scene_graph.AddRenderer( renderer_name,…
user3180
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Pointcloud Visualization in Drake Visualizer in Python

I would like to visualize pointcloud in drake-visualizer using python binding. I imitated how to publish images through lcm from here, and checked out these two issues (14985, 14991). The snippet is as follows : point_cloud_to_lcm_point_cloud =…
milLII3yway
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RGBD image to Pointcloud in ManipulationStation example

In the current commit, ManipulationStation used DepthImageToPointCloud to project the point cloud from color image and depth image input. However, in the documentation, it stated that Note that if a color image is provided, it must be in the same…
milLII3yway
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Flush output to drake::log()

Is there a way to get drake::log() messages to flush to output? I'm finding that in my use case the difference between the time a log message appears and the the time stamp of the message is on the order of minutes and I'd like a little faster…
Mark
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[drake in C++]: Declare an abstract input port in a controller to get contact result from multibody plant

Recently, I am trying to construct a "BaseContoller" to control the motion of "Atlas" in "Drake". To get the contact result of the multibody plant in the controller, I tried to declare an abstract input port in the controller leafsystem, which is to…
Hampton
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Compare decision variables to floating values

I'm currently working on a trajectory optimization problem that involves binary actuators. In order to avoid solving an MINLP I do not simply optimize over the states and control inputs but instead, assume that each of the binary actuators…
antbre
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How to set up IK Trajectory Optimization in Drake Toolbox?

I have read multiple resources that say the InverseKinematics class of Drake toolbox is able to solve IK in two fashions: Single-shot IK and IK trajectory optimization using cubic polynomial trajectories. (Link1 Section 4.1, Link2 Section II.B and…
skywalker
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How to set SolverId when setting verbosity in IK solver options in Drake toolbox?

drake::solvers::SolverOptions options; options.SetOption(drake::solvers::**?**, "verbose", {0, 1}); //{0,1} for verbose, {0,0} for no verbosity const auto result = Solve(ik.prog(), {}, options); const auto q_sol =…
skywalker
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pydrake controller with ros-gazebo

Background: I have a rospy-gazebo implementation of a robot simulator. I'm currently using ros_control to collect state estimation data and control joints through a position controller at each joint. I'm interested in transitioning to using the more…
CMcGreal
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How to locate a urdf file using parser.AddModelFromFile(full_name); in Drake

#include "drake/geometry/scene_graph.h" #include "drake/multibody/parsing/parser.h" #include "drake/common/find_resource.h" int main(void) { // Building a floating-base plant drake::multibody::MultibodyPlant plant_{0.0}; …
skywalker
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pydrake- Error when connecting IiwaCommandSender to LcmPublisherSystem

I have the following lines in my program- lcm = DrakeLcm() lcm_command_sender = builder.AddSystem(IiwaCommandSender()) lcm_publisher = builder.AddSystem(LcmPublisherSystem.Make(channel="IIWA_COMMAND", lcm_type=lcmt_iiwa_command, lcm=lcm,…
mantaray
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Problem with Drake Binary Installation for Python

I used Drake Binary Installation for Python from this site https://drake.mit.edu/python_bindings.html#installation Then when i checked to ensure I can import pydrake, I have got this: dmitriy@dmitriy-Lenovo-ideapad-310-15ISK:/opt$ python3 -c…
Dmitriy Ogureckiy
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Trouble while building Drake_last_sha_with_original_matlab Atlas with Bazel

I have been attempting to build Drake project last from source with Bazel on Ubuntu 20.04 but the following error occurs when I run bazel build :install from the Atlas root…
Dmitriy Ogureckiy
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Affine relationship between input and output ports in Drake

Say I have a Drake Diagram with an input port and and output port. I happen to know that, holding the state of the diagram constant, these input and output ports have an affine relationship, i.e. y = A(x) u + b(x) where x is the full state of the…
jwelde
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How to use ComPositionConstraint to do inverse kinematics?

There are AddPositionConstraint for PositionConstraint in the InverseKinematics class. Is there similar API for ComPositionConstraint? Thanks!
zisangsang
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