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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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Eigen version static assertion fail in binary version

I installed drake binary in my ubuntu 16.04 xenial by curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/continuous/drake-latest-xenial.tar.gz sudo tar -xvzf drake.tar.gz -C /opt And I find_package(drake) in my cmake and try to do…
Junhyeok Ahn
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Understanding Algebraic loop error message

When my program throws an algebraic loop error such as one below terminate called after throwing an instance of 'std::runtime_error' what(): Algebraic loop detected in DiagramBuilder: A depends on B depends on C depends on D depends on …
Rufus
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child class of leafsystem generating sinusoidal signal

I am trying to make a child class of LeafSystem whose output is sinusoidal and its derivative. I wrote the code and try to plot it but signal logger doesn't log correctly. #include "drake/systems/framework/leaf_system.h" #include…
Junhyeok Ahn
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How to create a new demo in automotive?

I'm trying to separate out some code from drake/automotive/automotive_demo.cc. As a first step, I'm trying to copy automotive_demo.cc and automotive_demo.py into differently named files (test.cc and test.py) and then running bazel run…
justinej
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drake: let the drake visualizer camera track a fast moving object

I have a UAV flying pretty fast and I want to have the drake visualizer camera always track the UAV throughout the simulation time so that I can record a good video about it. I have followed "View->Camera Control Panel->Select Target->Track Mode"…
Hank
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drake: search for fixed points and trim points of a system

I have a LeafSystem in drake, with dynamics \dot{x} = f(x,u) written in DoCalcTimeDerivatives. The fixed points and trim points of this system are not trivial to find. Therefore, I image one would need to write a nonlinear optimization problem to…
Hank
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python slider inside docker doesn't work

I have built drake inside docker, but when I run the example: python pendulum/torque_slider_demo.py from underactuated repo. the slider doesn't move and the window close button also "max/min buttons work". I am using this command to start…
I.Omar
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Why do OpenGL-based VTK targets in drake executed via `bazel test` sometimes fail on Linux?

While a binary works with bazel run, when I run a test using bazel test, such as: $ bazel test //systems/sensors:rgbd_camera_test I encounter a slew of errors from VTK / OpenGL: ERROR: In /vtk/Rendering/OpenGL2/vtkXOpenGLRenderWindow.cxx, line…
eacousineau
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Fixing certain positions in a MultiBodyPlant in Drake

I have a MultibodyPlant containing a 6-dof robot, and a stationary 2-dof obstacle. The plant's positions vector is 8-dimensional [object_x_offset, object_y_offset, robot_joint_1, ..., robot_joint_6]. This is very convenient for something like…
Mark
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Inputs to FirstOrderTaylorExpansion (Direct Shooting)

I'm trying to use FirstOrderTaylorExpansion to get linearized dynamics for Direct Shooting. My current code is this: enter image description here Cropped line: coeffs = FirstOrderTaylorApproximation(system, context,…
ishicode
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Adding New Geometries Post-Finalize

I'd like to be able to add or remove geometries as they appear/disappear in my environment. The docs clearly state that all geometries must be added before the call to MultibodyPlant::Finalize(). Does this mean every time I add a new geometry, I…
alvin
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Best Practice for ROS-Service-like Communication in Drake

Imagine the bin picking scenario: Simulation is setup with ManipulationStation. RGBA & pointcloud can be accessed through lcm channel through pub/sub. Perform a grasp detection using RGBA & pointcloud. I would like to implement the grasp detection…
milLII3yway
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Looking for help setting up DRAKE with a kinova spherical 6 degree of freedom robot

The Drake system has been installed and I am trying to get a 6 Degree of Freedom arm from Kinova to be integrated with Drake. This work would provide a financial support
Patrick Brown
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Differential Drive robot simulation in Drake

I want to simulate a differential drive robot in drake. However, its not easy figuring out the closest tutorial to start as a reference. In addition, can drake incorporate sensors like RFID or magnetometer. Any help will be appreciated. I do have…
Murt
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Loop Joints in Multi Body Tree

I know that the sdf format supports closed kinematic chains, but does drake's multibody tree sdf parser handle these correctly at the moment? Thanks!
Neel Doshi
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