CODEWITHSUNDEEP
drake
Wc Chang
Wc Chang

Reputation: 97

Direct Collocation method for muti-body system

I am very happy to learn Direct Collocation method from Underactuated Robotic course from MIT. One question about how to implement this method for a plant built from urdf/sdf. I explain my question using the examples of pendulum/dircol_swingup.py and acrobat/dircol_swingup.py. They import XXX_plant.o and xxxx_geometry.o from pydrake. I can find them under drake/example (c++ version). In this version, they don't need urdf /sdf to build dynamic, plant and geometry.

It turn out a little difficult to follow this pattern to build a urdf/sdf base plant for a beginner. My question is: is it compatible to implement Direct Collocation method with a urdf.sdf plant? If yes, could you provide a example?

Upvotes: 0

Views: 266

Answers (1)

Russ Tedrake
Russ Tedrake

Reputation: 5533

There is an example here (and more coming soon... I'm working on that chapter of the notes this coming week).

Upvotes: 1

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