Drake Tutorial
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Drake Tutorial
Drake Tutorial
To get started
Introduction
Drake Concepts
Drake Multibody
Drake Simulation
Drake Notation
Bazel basics
Things to do in drake
Hello, Drake!
Create a URDF/SDF robot
Visualize data in LCM
Visualize trajectory
[WIP] Visualize data
[WIP] Control Real KUKA arm
Drake Controllers
PID control of double pendulum
LQR on Cart Pole
Inverse Dynamics Control on fully-actuated KUKA arm
[WIP] Control a underactuated robot using Inverse Dynamics Controller
Drake Optimization
[WIP] Trajectory Optimization 1 - Direct Transcription
[WIP] Trajectory Optimization 2 - Direct Collocation
[WIP] Trajectory Optimization 3 - Shooting method
[WIP] Optimal Control 1 - Quadratic Programming
[WIP] Optimal Control 2 - Sequential Quadratic Programming
Q & A
FAQ
Use Drake as part of your project
Deprecated
Create a simple system
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Drake Notation
Drake notation is an incredible way of representing variables that could be written down on paper and easily translated into code.
As a user, it is important to understand the notation in Drake to be able to understand the code.
The official description is here.
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Drake Simulation
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Bazel basics
Last modified 2yr ago
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