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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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FixInputPort attempts to connect wrong port

I have a custom LeafSystem that has input ports and output ports as follows template MyLeafSystem::MyLeafSystem() : systems::LeafSystem(systems::SystemTypeTag{}), …
Rufus
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scalar-converting copy constructor for class with type dependent constructor arguments

Situation I realized that I've been writing a lot of LeafSystem classes that do very lightweight manipulation the input data and spits it out as output data. They are all state-less and their only difference is the conversion function. An example…
Rufus
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After Drake Source installation on macOS, how to run a example?

After using "Source installation on macOS" to install drake, "Bazel built//..." and " Bazel test//..." are done. The question is: how I run an example , for examples/acrobot/run_swing_up ? Should I input a command like:…
Wc Chang
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Drake Visualizer : Unknown file extension in readPolyData when using .dae file

I am trying to add a custom mesh (a torus) .dae file for collision and visual to my .sdf model. When I run my program, drake visualizer gives the following error File "/opt/drake/lib/python2.7/site-packages/director/lcmUtils.py", line 119, in…
Rufus
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Colab scratchpad NameError: name 'underactuated' is not defined

Drake on Colab. Installation and setup issue. I used the installation and setup code at the Colab scratchpad link in Appendix A.3 Run an example of the Underactuated Robotics book. I believe Colab executes the code on the cloud so I don't need to do…
Bourbaki
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How to create LinearQuadraticRegulator for Acrobot system using pydrake

I am trying to create LQR for acrobot system from scratch: file_name = "acrobot.sdf" # from drake/multibody/benchmarks/acrobot/acrobot.sdf acrobot = MultibodyPlant() parser =…
asQue
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How to prevent gravity from accelerating ground plane?

I currently have a ground plane defined in sdf format with the following tags true false In my source file, I specify plant.AddForceElement(); Question: Is the and…
Rufus
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drake visualizer not displaying anything

OS: Ubuntu 16.04, NVIDIA Driver I followed the drake installation procedure as described in drake website.(I have also installed nvidia driver)After installation, as per the instructions when I run: $ xhost +local:root; nvidia-docker run -i --rm -e…
Abhinav Muraleedharan
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How to debug `InputPort::Eval(): required InputPort[0] is not connected`

Background I am trying to simulate a double pendulum mounted on a cart. I used the examples/multibody/cart_pole/cart_pole_simulation.cc as a starting point. I created a new .sdf based on cart_pole.sdf and added for my double pendulum cart. I've…
Rufus
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Why do I get linker errors when I build a CMake project using Drake, but I can clearly see the symbols?

I have followed the Installation and Quickstart instructions, and am writing a CMake project to use Drake. I'm looking at a unittest that builds in Drake, run it, and it builds, runs, and passes. However, when I try to use some of that functionality…
Eric Cousineau
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How to use minDistanceConstraint in pydrake

In this repo, @Gizatt uses the following command to assemble collision constraints for the kuka iiwa: ik.MinDistanceConstraint(tree, collision_tol, list(), set()) Here, what do list() and set() signify. Both seem to be empty here. Let's just say I…
Rickyduh
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Setter analogues of `MultibodyTree::get_positions_from_array()` and `MultibodyTree::get_velocities_from_array()`

There do not seem to be analogous setters. If I want to fill in the relevant pieces of an array, is there an interface for doing that?
Evan Drumwright
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Straightforward way to compute the generalized inertia matrix for a model instance in MultibodyTree?

Is there a straightforward way to compute the generalized inertia matrix for a model instance in a MultibodyTree? Meaning, suppose that I've created a MultibodyTree/MultibodyPlant for a robot (one model instance) and a ball that it is to interact…
Evan Drumwright
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Velocity level constraints on the inverse kinematic trajectory

I have a question about inverseKinTraj class. It seems to return qsol as well as qdotsol and qddotsol and I would like to add velocity constraint on the time step. For example, I would like to add A(q(t))*qdot(t) = Constant and…
Junhyeok Ahn
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Allowing for >1 input on simple continuous time system

I am trying to recreate the pendulum example found in source into binary for practice. To do this, I am modifying the simple_continuous_time_system.cc example that comes with the binary installation. However, when I try to add an input (from 0 to 1)…
Olivia Siegel
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