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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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can not get a same solution from SNOPT when I try to solve a Nonlinear Program in Drake with a same initial guess

I am trying to solve a nonlinear program with Direct collocation in drake. I want to regain the solution when SNOPT solved the program successfully. First I saved the initial guess of each variable in a .txt file, then I read the initial guess and…
cby
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Is there an easy way to find out which of two frames is closer to the root in a Multibody plant?

I am working on recovering from collision. I have the names of bodies in collision and the frames associated with them and now I want to move the body/frame that is closer to the end effector to get out of collision, but I couldn't find a…
Gavin
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How to ensure DoPublish is call at the requested interval in drake

I have a LeafSystem that DeclarePeriodicPublish(0.07, 0). This LeafSystem reads data from a rgbd camera, does some processing and save the result to an attribute of the LeafSystem instance. The LeafSystem also declares multiple output ports, which…
Quan Vuong
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How do I take gradients of MultibodyPlant computations w.r.t. mass, center-of-mass, inertia, etc.?

I see the current chapter of Underactuated: System Identification and the corresponding notebook, and it currently does it through symbolics. I'd like to try out stuff like system identification using forward-mode automatic differentiation…
Eric Cousineau
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On the Controlabillity of Linearized Free-Floating Systems

I have been trying to get a linearized version of a MultiBodyPlant without gravity to experiment with LQR for systems without gravity. However, the linearization leads to some interesting phenomena. A simplified example can be found in this google…
Shubham Vyas
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Return Specific Constraint that is Infeasible in Drake

I am currently running a MIQP optimization problem in Drake using Gurobi. I keep on getting an infeasible solution to my optimization problem and I wanted to know if Drake can return any more useful information such as which specific constraint is…
Yuki
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Drake Continuous Collision Detection

I am trying to use drake as a collision detection function in OMPL, and I have already implemented the state validity checker as follows: bool stateValidityChecker (drake::multibody::MultibodyPlant * plant, …
Jason
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What's the best way to upgrade from a Drake version that is >3 months old?

I have some code using an older version of Drake, and I'd like to upgrade to a much newer version. How should I proceed?
Eric Cousineau
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How do you visualise your ROS URDF on the Drake visualizer?

Drake noob here. I tried running the drake_visualizer and geometry_inspector with my own ROS generated URDF that depicts and experimental setup with two UR10s. This throws two errors PackageMap is not able to resolve certain mesh files of extension…
kzernobog
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Issues when installing drake in M1 macOS

I follow the steps in the webpage, a problem came out when executing./setup/mac/install_prereqs.sh drake % ./setup/mac/install_prereqs.sh + binary_distribution_args=() + source_distribution_args=() + '[' '' '!=' '' ']' + source…
MrMaRui
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An error happen during Bazel build: no such package '@cc//': Not a regular file:

I just upgrade mac OS to macOS Big Sur (11), it is no issue to reinstall drake from source (./setup/mac/install_prereqs.sh). But some errors happen during "bazel built". The message is posted below: MacBook-Pro examples % bazel test ... INFO:…
Wc Chang
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Inspecting port data in real time

Is there any recommended way to inspect/plot the numeric values that are being sent through the ports between drake systems in real-time?. (something similar to rqt_plot in ROS). Apart from the SignalLogger or writing and wiring custom individual…
Achu Wilson
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Why does the program return infeasible when provided with a feasible guess?

In order to solve my nonlinear program, I first solve the zero cost version of the problem (i.e. feasibility problem), and use the result as a guess for the full optimization problem. The feasibility problem, many constraints, among which are…
Rufus
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Is symbolic variable limited under 5?

When I setup a Vector with 4 symbolic variables, it is ok. But an error happens for 5 variable, the detail is posted at below. Is the symbolic variable limited below 5? My code for 5 variables: const Variable x0{"x0"}; const Variable…
Wc Chang
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How to use Drake with deep reinforcement learning

Does drake have a pipeline/platform with which I can implement deep reinforcement learning algorithms?
Victor
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