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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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exit code 139 when using convex mesh as collision geometry

I am trying to use a convex mesh as collision geometry in drake. In my simple example I have a ground plane as the first collision geometry and load the object from the urdf file below. Where tri_cube.obj is a convex mesh from…
nicolas
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Why do I get `SystemError: returned a result with an error set` when importing `pydrake` stuff?

FTR: This is my "public archival" of a Drake Slack conversation. gizatt Sep 17th, 2019 at 2:44 PM (py36_pyro) gizatt@ProblemChild:~$ python Python 3.6.9 |Anaconda, Inc.| (default, Jul 30 2019, 19:07:31) [GCC 7.3.0] on linux Type "help",…
Eric Cousineau
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What's the meaning of the first arguments in FirstOrderHold in Pydrake?

An example is initial_x_trajectory = PiecewisePolynomial.FirstOrderHold( [0., 4.], [initial_state.get_value(), final_state.get_value()]) I'm wondering what's the meaning of this [0., 4.]. I checked the document:…
Yukun Xia
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Clang-format Error When Building Drake Python Bindings

I am trying to install the Python bindings for Drake but am encountering an issue. I have followed the steps here from the "Binary Installation for Python" section up to "Building the Python Bindings". I am running the "make -j" step and am getting…
Samuel Cherna
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meshcat_visualizer_test fails fetching repository 'yaml_cpp'

I'm trying to run drake/bindings/pydrake/systems/test/meshcat_visualizer_test.py as per the commented instructions at the top of said file, but I am unfamiliar as to how I would add yaml-ccp, which I believe is causing errors. I have the drake repo…
Phil
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Problems when building Drake from source with cmake

I am trying to build and install Drake from source in order to get support for Mosek. I keep running into trouble, however. For the record, I am running macOS Catalina. Right now my approach has been this: Clone drake from github to a location on…
bernhardpg
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Is AddJointActuator available in Drake:Python?

I am trying to construct a MultibodyPlant using Python rather than loading it from URDF. i.e., translating the CPP code make_cartpole_plant.cc to Python. I have found all the Python bindings except AddJointActuator. I could not find this function…
Shinnnn
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Drake Installation Freeze

I am trying to install the python-binding of drake. After make --j it freezes. I believe I have done everything correctly for the previous steps. Can anyone help? I am running on Ubuntu 18.04 with python 3.6.9. Thank you in advance. It looks like…
Steven Yeung
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direct transcription for compass gait

I'd like to set up trajectory optimization for the compass gait system (as hinted in the lecture video, using control authority can expand the region of attraction for stable walking). In trying to use the DirectTranscription class on compass gait,…
steve
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Drake installation issues on Mac

1) I built the visualizer but couldn’t launch it. Here is what I see: (base) Taos-MacBook-Pro:drake taosun$ bazel build //tools:drake_visualizer //manipulation/util:geometry_inspector INFO: Analyzed 2 targets (0 packages loaded, 0 targets…
Oceanflytao
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Problem in Installing Drake (via docker) in Windows

my configuration : windows+ dockers I try to run the program according to the tutorial from this website: [http://underactuated.csail.mit.edu/Spring2019/install_drake_docker.html][1] When I come to the step running the code "**python…
alanchow
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A direct transcription method for a discrete multi-body plant?

Drake can't run a multibody plant on continuous mode, because there is one "limit" setting in one joint in sdf file. Unfortunately, Direct Collocation is not suitable for this discrete case, too. Then I find Direct Transcription is not limited in…
Wc Chang
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Direct Collocation method for muti-body system

I am very happy to learn Direct Collocation method from Underactuated Robotic course from MIT. One question about how to implement this method for a plant built from urdf/sdf. I explain my question using the examples of pendulum/dircol_swingup.py…
Wc Chang
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Spawning and Despawning objects in Drake

I have a robot in my simulation that carries objects to and from places. I would like to spawn an object at a certain position with an initial velocity of 0. The trigger would most likely be a collision detection or when the previous object reaches…
Yuki
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Can be made the fmt library that drake brings private?

My workspace is a ros2-like workspace in which drake has been wrapped into a CMake package. drake is pulling in a specific version of the fmt library which I am able to consume it. But the thing is I need to use another version of fmt that I have…
franco.c
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