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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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Creating an sdf file with individual link movements

I have created an sdf file in drake with 3 links and 2 joints, which looks similar to a 2R manipulator. The first link is the base while the second and third links are just long box rods. The 2 joints are revolute and are on the same axis. However,…
Yuki
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Drake: A plant include Muti-body plant and LeafSystem plant

A part of a plant is easily modeled by MutibodyPlant Class, unfortunately, other parts of a plant look like to be modeled by leaf System. Can Drake do such things? Plant A: muti-links arm --> Using SDF and MutibodyPlant class for modeling Plant B:…
Wc Chang
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Convert Python Drake to C++ Drake

In the 2020 MIT Underactuated Robotics course, there is a simple feedback cancellation example by Python. Because I just learn C++ drake, I want to take this example as a practice by converting it to C++ version. I get some trouble. (1) Do it make…
Wc Chang
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Switching from Rigidbody plant to Multibody plant

In the old code, there used to be an option to select between inverse_dynamics_controller and kuka_torque_controller. The two are slightly different where the inputs to the kuka_torque_controller has a "Tau input". The inverse_dynamics_controller is…
Yuki
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Macos Could NOT identify C/C++ compiler because compilation failed

I am getting this error when trying to compile on drake macos 10.14.6. I have ran the setup script. Bazel: 2.0.0 Drake 0.11.0 lawn-143-215-113-3:drake tdogb$ bazel build //... INFO: Call stack for the definition of repository 'cc' which is a…
Tanner Beard
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the format of argument of pydrake.forwarddiff.jacobian?

This question is originally presented here https://github.com/RobotLocomotion/drake/issues/12484. the question is about how to use the function. the function…
N.Li
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Segfault when simulating control loop with second order system

Working from the tutorials I wanted to try PID-controlling a second order linear system. I'm running into segfaults when simulating the closed loop. I've put my code over on Gist. It is mostly identical to the example in the dynamical systems…
pgorczak
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Drake libGL error when starting visualizer for the first time through Docker

I'm running a fresh install of Ubuntu 18.04. I downgraded my NVIDIA driver to 390.129 (even though the instructions only mention that when installing Drake with CUDA support, which I'm not doing). I've installed Docker and built Drake using the…
user12534019
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How to use InverseKinematics to solve IK on MultibodyPlant?

I was trying to use InverseKinematics to solve the IK for a MultibodyPlant. I was trying to add some position constraints to it and then do the solver. drake::multibody::InverseKinematics kinsol(plant); auto world =…
Yingke Li
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Segmentation fault (core dumped) by the programming solver

This piece of example code: ''' import numpy as np import pydrake.solvers.mathematicalprogram as mp from pydrake.solvers.ipopt import IpoptSolver def foo(x): return np.sign(x) prog = mp.MathematicalProgram() x =…
N.Li
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DRAKE_RESOURCE_ROOT is unset in Drake Docker

I get the error: because no resource roots of any kind could be found: DRAKE_RESOURCE_ROOT is unset, a bazel::tools::cpp::runfiles::Runfiles could not be created, and there is no Drake CMake install marker.Aborted (core dumped) The fix is as…
Michael Jacob Mathew
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Serializing Drake objects with Python

Is there any way to serialize and de-serialize objects (such as pydrake.trajectories.PiecewisePolynomial, Expression ...) using pickle or some other way? It does not complain when I serialize it, but when trying to load from file it…
GuyS
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Drake Rigid_body_tree calculating the jacobian question

I am currently trying to calculate the jacobian of a kuka arm using the "rigid_body_tree.cc" file for the equation: Tau = J^T*F, where Tau is the 7 joint torques of the kuka arm, F is the cartesian forces and torques at the end-effector, and J^T is…
Yuki
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3 answers

Calling super().__init__() on subclass of ForceElement causes No constructor defined

I am trying to create a custom ForceElement as follows class FrontWheelForce(ForceElement): def __init__(self, plant): front_wheel = plant.GetBodyByName("front_wheel") front_wheel_node_index = front_wheel.index() …
Rufus
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Constraint force for closed loop MultibodyPlant

Since RigidBodyTree is on its way out, I'm trying to use MultibodyPlant to study my closed loop multibody robot. I'm testing things out using the drake/examples/simple_four_bar/FourBar.sdf my_plant, scene_graph =…
Rufus
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