Drake Tutorial
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Things to do in drake
Drake Controllers
Drake Optimization
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To get started
You are excited to simulate your beloved robot with this brand-new robotics software. You want to solve the robot kinematics and dynamics. You want to do advanced motion planning because you heard Boston Dynamics uses Quadratic Programming to do backflips. You are in the right place, Drake is the software to get you started.
Install drake
Although there are binary and python bindings of Drake, I recommend you compile Drake from its C++ source code (this tutorial focuses only on the C++ version of Drake).
Note: Drake is compiled with the bazel build tool (developed by Google). It has similar functions as CMake.
After the installation, try the following simulation examples
Simulate a ball dropping onto an inclined plane
This README helps you simulate a ball dropping from a certain height onto an inclined plane, then sliding/rolling down the plane.
Visualize a KUKA arm
To control the position of a KUKA arm with a slider GUI, follow these instructions. (Note: The complete code is here.)
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cd drake
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bazel build //tools:drake_visualizer //manipulation/util:geometry_inspector
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# Terminal 1
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./bazel-bin/tools/drake_visualizer
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# Terminal 2
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./bazel-bin/manipulation/util/geometry_inspector \
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./manipulation/models/iiwa_description/sdf/iiwa14_no_collision.sdf
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Explore more examples
Ideally, you now have learned how to visualize and run a simulation. You are ready to enjoy more examples under the drake/examples folder, such as the allegro hand example, in which you import an SDF model and run its simulation.
Where to go from here
Understand Drake concepts
Try using controllers to control a robot
Useful links
- Underactuated Robotics Online Textbook (Class taught by Prof. Russ Tedrake that heavily uses Drake)
Last modified 1yr ago