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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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692 questions
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ERROR: In /vtk/IO/Import/vtkOBJImporter.cxx

I've tried to run tutorial example of kuka robot from website https://drake.guzhaoyuan.com/ but it failed while reading .obj files. command: ./bazel-bin/manipulation/util/geometry_inspector …
yacotaco
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Error building Drake from source on deprecation warnings

I cloned the drake repo and went through the [setup instructions from source][1] (WSL Ubuntu 18.04). Now I am trying to follow the first steps and build: bazel build //tools:drake_visualizer //manipulation/util:geometry_inspector However some…
gg99
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Turning some of the states in a Drake system into inputs

Consider an existing Drake System (for example MultibodyPlant). Is there a way to wrap that System inside a Diagram in such a way as to convert some of the states of the internal System to be inputs instead, i.e. set directly from input ports of the…
jwelde
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How to warm start SNOPT in drake

Hi I was wondering how to warm start the snopt solver in pydrake? In the documentation for SNOPT it says to use start =2. However I'm not sure how to feed that in properly and also send information from the previous solve into snopt
Jorge Nin
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Exit condition 41 on SNOPT

I'm trying to run an optimization with SNOPT. Right now as I run it I consistently get exit condition 41. I've added the following parameters to the solver: prog.SetSolverOption(solver.solver_id(),"Function…
Jorge Nin
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How to improve the trajectory optimization results

I want to do trajectory optimization with the Atlas robot model in Drake. Fallow the litterdog example and this repository, I tried the jump motion optimization here. Basically, I changed the in_stance sequence, added Initial guess of q, and added a…
zisangsang
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Generating and manipulating multiple models into an iiwa arm MeshCat simulation in Drake

I am trying to make a simple simulation where an iiwa arm picks up foam bricks from a tower. However I have been running into issues finding a way to generate multiple bricks and moving them. The block of code below is how I am currently generating…
Carlos
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RuntimeError: You should not call `__bool__` / `__nonzero__` on `Formula`

I am working on Exercise 3.9 (virtual wall) from Russ Tedrake's Robotic Manipulation course, and I'm receiving the runtime error above when attempting to add the end-effector position constraint. I've been stuck on this almost all day, so I caved…
Nolan Fey
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Computing Minkowski Sum/Difference with Drake

Problem: I want to compute the Minkowski difference of HPolyhedrons. Reading the documentation of the Drake's Geometric Optimization module I found that: The geometry::optimization tools support: Many advanced queries (intersections, Minkowski…
Luigi Pannocchi
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How to use an LQR controller with collision geometry

I am using the examples/atlas/atlas_run_dynamics.cc, and I want to add an LQR controller to make the robot stand. I add my code int num_act,num_states; num_act = plant.num_actuators(); num_states = plant.num_multibody_states(); …
zisangsang
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Python bindings error when adding two plants to a scene graph in pyDrake

I'd like to have two plants in the same builder and scene graph. (I don't want them on the same plant because I'd like to separate their dynamics, but I'd like them to affect each other, hence keeping them on the same builder and scene graph.) My…
hkolano
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Adding Ghost Frame to Drake Model

I currently have a URDF that contains a robotic arm without any gripper. I am using pydrake to perform inverse kinematics for the arm but would like to attach a dummy frame to the end in order to constrain the position of the gripper rather than the…
Dani Lerner
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Drake installation issue on ubuntu 20.04

I'm following Drake's installation instructions from here for ubuntu. I get stuck at this line: python3 -c 'import pydrake; print(pydrake.__file__)' with the following error: Traceback (most recent call last): File "", line 1, in…
JJT
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Python Bindings Request for TrajectoryLinearSystem Class

I would like to use the class TrajectoryLinearSystem to create a time-varying LQR for a free-floating system as I do my own linearization of the trajectory (due to the quaternion state representation of the floating base). However, this class is…
Shubham Vyas
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Does a ModelInstance in a MultibodyPlan have a unique source_id for determining if a geometry_id belongs to it?

I have a MultibodyPlant which has several robots in it, each of which is a ModelInstance and they are added to the plant using AddModelInstance. During collision, I would like to determine which of these model instances a colliding object (tagged by…
David M.S. Johnson
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