Category "drake"

How to add instantaneous force onto drake ball

I'm working on a juggling robot iiwa, and am looking to add disturbances onto the ball every now and then to see how well the controller works. Is there an easy

Linear Model Predictive Control Optimization Running Slowly

I am attempting to implement linear MPC of a quadrotor in Drake. To start with, I have generated a simple desired trajectory moving only in the z-direction usin

How do you connect an arbitrary list of discrete control inputs to a plant?

I have a numpy array of discrete control inputs to provide my plant (one per fixed time_step). How would I hook that array of inputs up to my plant such that th

PyDrake: PID Control of Free-Floating Simulation - Velocity & Positional Dimension Mismatch

|OS: Ubuntu 20.04|Py:3.7|Drake Stable Release:0.38.0| When I generate a free-floating body (conventional robotic arm not welded to world with n joints) I get th

Numerical roundoff error in bilinear alternation leads to infeasibility

We are trying an alteration optimization strategy to solve Lyapunov problems. We break down our decision variables into two sets, Set 1 and Set 2. We were perpl

Drake Deepnote Tutorials Import Failure - Versioning Issue?

| OS: Ubuntu 20.04 | Py: 3.8.10, downloaded via apt | Drake: 1.2.0, downloaded via apt | using venv | Running in PyCharm: | Took the Deepnote Tutorial .ipynb "C

PyDrake - DirectCollocation - input_port(5) (applied spatial force) is KAbstractValued. How can I turn it to kVectorValued?

I'm attempted to run DirectCollocation on a free body but am running into a Vector Type issue. My plant consists of just the ground and the body (from a urdf) a

drake gurobi cannot handle quadratic constraint

I am currently working to implement a simple quadratic constraint on an optimization problem. Gurobi's website says that quadratic constraints can be implemente

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