CODEWITHSUNDEEP
installationopen-sourceroboticsdrake
zisangsang
zisangsang

Reputation: 81

how to use "robotlocomotion drake" codes in my project, for example "qp_inverse_dynamics"

i want to implement drake in my project, but i found it almost impossible. Although there are notebooks and course explain robotics theory and how drake works, http://underactuated.csail.mit.edu/underactuated.html?chapter=drake https://www.edx.org/course/underactuated-robotics-mitx-6-832x-0

But how could i use the codes in drake in my project. For example, i want to simulate a 6-Dof arm using V-rep and ROS, and i want to inplement force control to the arm using "qp_inverse_dynamics" in drake, do i need to include all files that "qp_inverse_dynamics" used, and construct the build system? There are tons of files.

I have made a quadruped robot using position control and PID controller, and have a little bit experience of using open source convex quadratic programs solver(osqp)。 And now, after build and tested drake using bazel, what coule I do to use codes in drake in my project? Or should I just write my own codes using the method in Underactuated Robotics notebook?

thanks a lot.

Upvotes: 1

Views: 451

Answers (1)

Russ Tedrake
Russ Tedrake

Reputation: 5533

This repository is our working example of how to use drake in your own project:
https://github.com/RobotLocomotion/drake-shambhala

We do support OSQP as one of many solver backends. There is a chance that you will find that you want some feature in drake that is not yet exposed in the binary installation, in which case please make a request on github. But I suspect it should work well for you.

N.B. The lectures you've pointed to on edX are a few years old now. The current version of the course is running right now, with streamed/recorded lectures available at http://underactuated.csail.mit.edu/Spring2018/index.html#textbook/assignments/videos

Upvotes: 2

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