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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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Applying Propeller and Wing forces to a MultiBodyPlant in Drake

I am attempting to connect the spatial_forces outputs of a Propeller system and a Wing system to a single MultiBodyPlant by utilizing a LeafSystem to combine the outputs from both systems into a single output. I have attempted to create a system to…
mason
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How to implement custom constraint using C++?

I am trying to reimplement littledog.ipynb using C++. I find it is hard to translate the function velocity_dynamics_constraint and have 3 questions What is the function of ad_velocity_dynamics_context? Can we ignore it? How to reimplement…
matheecs
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TrajectorySource with PiecewisePose does not give expected rotation result

I am playing with PiecewisePose. I want to create a linear interpolation trajectory from an inital pose to the goal pose (that is, my interpolation trajectory only contains one segment). After creating the trajectory, I add it to the…
Chen Wang
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Autodiff for Jacobian derivative with respect to individual joint angles

I am trying to compute $\partial{J}{q_i}$ in drake C++ for manipulator and as per my search, the best approach seems to be using autodiff function. I was not able to fully understand autodiff approach from the resources that I found, so I apologize…
Murt
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How to make pendulum swing due to gravity in Drake

I have been trying to simulate a simple pendulum that can swing due to gravity after setting the initial angle. I am now able to create the urdf, and create a slider that will set the angle of the pendulum arm. But I am still facing trouble when…
Raviverma Chamarti
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Confusion on deploying Drake based software to a real robot

I have limited experience in drake and currently trying to learn and implement some simple algorithms. The code I have is based on an example from the Underactuated Robotics course by R. Tedrake. The code is a slightly modified version of this…
fet.atas
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Is there a way to get collision results in the context of the plant?

I'm a bit unfamiliar with Drake and I've been trying to write a function to return the body indices involved in collisions in my MultibodyPlant. I'm having some trouble getting the correct collision results. I'm currently trying to get the contact…
etoast
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How to add JointActuator for PlanarJoint?

I am working on a simple 2D peg-in-hole example in which I want to directly control the peg (which is just a box) in 2D. In order to do that, I add a planar joint to attach the peg to the world as in the Manipulation course's…
Chen Wang
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How drake used to collision detected?

The library which drake used to collision detected is different from the FCL(https://github.com/flexible-collision-library/fcl)? Is Drake collision detection based on FCL? Or where can I find the difference? Can I use FCL to get the contact force…
ZYC
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Build from source error: missing input file 'external/net_sf_jchart2d/jar/jchart2d.jar'

I try to build drake1.0.0 from source using bazel. However I encounter the following error: ERROR: /home/chenwang/drake-build/_bazel_chenwang/bcff9e14963ec4b6ed21d9b7e9e180fc/external/net_sf_jchart2d/jar/BUILD.bazel:2:12: Extracting interface…
Chen Wang
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How to obtain centroidal momentum matrix explicitly for momentum-based control purpose

there are useful APIs to calc centroidal momentum, like CalcSpatialMomentumInWorldAboutPoint. But for momentum-based control, I ran into some problems with this API. During control there is: l = A(q) * v and I want to take this as a constraint to…
zisangsang
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Simulating non-linear Actuator in drake

I am trying to simulate a simple bar-link robot with a contracting actuator with a non-linear force strain curve (force decreases roughly exponentially as the strain of the actuator increases). I have created the sdf of the robot with a prismatic…
rpascal
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Screw Joint doesn't rotate

An issue arises with contact modeling in robotics simulation package drake. I try to position-control an iiwa manipulator to affect a body, attached to a screw joint. What I expect is the nut progressing downwards. What I see is the end-effector…
Dmitri K
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Visualize frames + debug text in DrakeVisualizer

Can we: Draw the body frames for each object in Drake Visualizer? and Append a small debug text? Similar to how in pyBullet. You provide a world position and string, and it displays in the visualizer. In absence of 2, is there a way to visualize…
EpsilonGreedy
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Signed distance queries between shapes 'Box' and 'Box' are not supported

We tried solving a static equilibrium problem between two boxes: static_equilibrium_problem = StaticEquilibriumProblem(autodiff_plant, autodiff_plant.GetMyContextFromRoot(autodiff_context), set()) result =…
EpsilonGreedy
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