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
1 answer

How to fix the codes with the newest pydrake bindings?

I found a useful demo in github(https://github.com/maggiewu19/compass-gait-simulator). However, the codes didn't work with the newest pydrake. I ran the codes in google colab  and got errors. Any reply will be appreciated.
Axebobby
  • 31
  • 4
0
votes
1 answer

C++ version conflict for using nlohmann/json in drake

I recently found out that nlohmann/json runs on C++ 11. Otherwise it gives some syntax error due to a deprecated line from using a higher C++…
Yuki
  • 139
  • 6
0
votes
1 answer

Nightly build doesn't acquire mosek license

I'm having problems using Mosek within Drake. If I use nightly build binaries, pydrake is unable to find my mosek license. If I build from git repo, pydrake can use mosek. Installation steps follow from…
Micah
  • 33
  • 5
0
votes
1 answer

Drake URDF: Single transmission with multiple joints

I currently am working on a URDF file that has multiple long cylinders that are placed in parallel. Each cylinder rotates on a different shaft, but I would like the cylinders to move together. My problem is, drake does not recognize multiple joints…
Yuki
  • 139
  • 6
0
votes
1 answer

Weird behavior when modeling small multi-link object

I'm trying to model a small and light objects(the links of a rope). This is an example sdf. If I decrease the mass from 1.0 to 0.3 and adjust the inertias accordingly, it seems to disappear off the screen as soon as it touches the ground. With more…
Michelle Tan
  • 19
  • 6
0
votes
1 answer

How to search for compass gait Limit Cycles?

In compass_gait_limit_cycle.ipynb, I followed the instruction and added five groups of constraints: for t in range(T): vars = q[t] prog.AddConstraint(swing_foot_height, lb=[0]*nq, ub=[np.inf]*nq, vars=vars) However, I got the error…
Axebobby
  • 31
  • 4
0
votes
1 answer

Some questions about CompassGait in pydrake

I am using pydrake to learn the underactuated robotics. I am confused that how could I change the CompassGaitParams? For example, I want to change the leg length to 1.5,what should I do? I changed the example, but it failed this is the code: import…
Axebobby
  • 31
  • 4
0
votes
1 answer

Fully joint connected multibody system?

I'm currently creating a system of spheres which can actuate to push each other away. There are center bodies (teal) at each corner which are connected to connecting bodies (yellow) via PrismaticJoint which are connected in the same way to the next…
Joaquin Giraldo-Laguna
  • 55
  • 6
0
votes
2 answers

Using gazebo with drake for quadrotor

My objective is to use finite horizon linear quadratic regulator(FHLQR) to follow a trajectory generated by a mathematical program and simulate it in Gazebo. As FHLQR needs a system as input, I'm using the QuadrotorPlant, but I'm not sure if this is…
Lars Erik Fagernaes
  • 182
  • 1
  • 12
0
votes
1 answer

Discretization in Drake

So I am doing a zero order hold integration technique for discretization. From the text, there is an explicit expression describing the discrete dynamics. How do I look at the explicit form of my linearized system from Drake? I want to know the A,…
Taylor Baum
  • 37
  • 4
0
votes
1 answer

How to solve error about g_iprint while compiling drake on mac?

I got this error while compiling program on mac. external/drake/solvers/snopt_solver.cc:118:34: error: variable 'g_iprint' is not needed and will not be emitted [-Werror,-Wunneeded-internal-declaration] thread_local inline static int…
Jianshu Hu
  • 3
  • 2
0
votes
1 answer

Overriding dynamics for systems which are C++ bindings

I'm trying to load a system and then override its dynamics, such that classes like Simulator use the new dynamics instead. This is straightforward for systems declared in python, but doesn't seem to work for ones that are C++ bindings---for…
Joao Loula
  • 91
  • 4
0
votes
1 answer

Provide custom gradient to drake::MathematicalProgram

Drake has an interface where you can give it a generic function as a constraint and it can set up the nonlinearly-constrained mathematical program automatically (as long as it supports AutoDiff). I have a situation where my constraint does not…
dawsonc
  • 25
  • 3
0
votes
1 answer

Using DirectTranscription with a VectorSystem

I'm trying to use the DirectTranscription / DirectCollocation methods with a user declared Vector or LeafSystem, but run into a problem with casting to AutoDiffXd. For instance, the following code snippet: from pydrake.all import VectorSystem,…
Joao Loula
  • 91
  • 4
0
votes
2 answers

How do you set up input ports in custom plants in Drake?

I am currently working to implement a nonlinear system in Drake, so I've been setting up a LeafSystem as my plant. Following this tutorial, I was able to get a passive version of my system functioning properly (no variable control input). But the…
Andy Cohen
  • 113
  • 1
  • 8
1 2 3
…
46 47