To get started
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You are excited to simulate your beloved robot with this brand-new Drake software. You want to solve the robot's kinematics and dynamics. You want to calculate advanced motion planning because you heard Boston Dynamics uses Model Predictive Control to achieve backflips. You are in the right place; Drake is the software to get you started.
Although there are binary and of Drake, I recommend you compile Drake from its C++ source code (this tutorial focuses only on the C++ version of Drake).
To download and install Drake, follow the .
This helps you simulate a ball dropping from a certain height onto an inclined plane, then sliding/rolling down the plane.
To control the position of a KUKA arm with a slider GUI, follow these instructions. (Note: The complete code is .)
Ideally, you now have learned how to visualize and run a simulation. You are ready to enjoy more examples under the folder, such as the , in which you import an SDF model and run its simulation.
(Web-based documentation for C++ source code)
(Class taught by Prof. Russ Tedrake that heavily uses Drake)