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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Use Drake as part of your project
You find Drake useful, but it is too heavy for your project. All you need is a library to compute the kinematics and dynamics of the robot. Or you just want the optimization part. And bazel is not compatible with your current code base.
Don't worry, you can still use Drake!
Q & A - Previous
FAQ
Next - Deprecated
Create a simple system
Last modified 2yr ago
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