guzhaoyuan / drake-tutorial Goto Github PK

I perform one by one items, but on the Then in another terminal we open up a "planner and runner". nothing happen.

1. Can it be used to simulate a closed chain robot？
2. As far as I know，the "rbdl" can be used to calculate the Inverse dynamics of robot even if the robot has a closed chain, but it uses the "Baumgarte stabilization" which is beyond my knowledge, can drake solve this?
3. If I use cmake, I'd known that use "make install" command to install into the system but if I use "./install /usr/local" when use bazel, It can't find some files.

https://drake.guzhaoyuan.com/q-and-a/faq

If you are a robotics control guy person, drake is for you. Drake has a dedicated team working on multibody dynamics, planning and control. Drake has a whole bunch of tools that help ease the development of robot control.

When I learn the Drake tutorial,I get some trouble.

In the inclined_plane_with_body of Drake github,there is the code below.

bazel build //tools:drake_visualizer //examples/multibody/inclined_plane_with_body

When I run it, the terminal show me:

So,I can't find the gen folder.What should I do? Thank you!

https://drake.guzhaoyuan.com/introduction/drake-concept, Section Diagram, "is be nested"

In Visualize data in LCM, I can see a window that contains trajectories, how to turn this option on?
I wish you can supplement more tutorials and I think it's difficult to learn drake.
thks!

There is error same as in last issue. When I try compile project by typing:

bazel run //examples/double_pendulum_pid:run_double_pendulum_passive_exe

I have got:

bazel run //examples/double_pendulum_pid:run_double_pendulum_passive_exe
ERROR: /home/dmitriy/git/drake/examples/double_pendulum_pid/BUILD.bazel:29:16: no such target '//common:text_logging_gflags': target 'text_logging_gflags' not declared in package 'common' (did you mean 'add_text_logging_gflags'?) defined by /home/dmitriy/git/drake/common/BUILD.bazel and referenced by '//examples/double_pendulum_pid:run_double_pendulum_passive_exe'
ERROR: Analysis of target '//examples/double_pendulum_pid:run_double_pendulum_passive_exe' failed; build aborted: Analysis failed
INFO: Elapsed time: 1.116s
INFO: 0 processes.
FAILED: Build did NOT complete successfully (1 packages loaded, 0 ta
FAILED: Build did NOT complete successfully (1 packages loaded, 0 ta
rgets configured)
[2] Done bazel-bin/tools/drake_visualizer

bazel build //
didn't work for me. Even
bazel build //manipulation/util:geometry_inspector
was causing my machine to crash. Ultimately I found this post and tried
bazel build --jobs=2 //manipulation/util:geometry_inspector
which worked. If I am not the only one who's running into this, it might be worth mentioning in the tutorial.

When I Run the trajectory publisher I have got this:

dmitriy@dmitriy:~/git/drake$ bazel run //examples/viz:trajectory_publisher
ERROR: /home/dmitriy/git/drake/examples/viz/BUILD.bazel:1:1: name 'drake_cc_binary' is not defined
ERROR: Skipping '//examples/viz:trajectory_publisher': no such target '//examples/viz:trajectory_publisher': target 'trajectory_publisher' not declared in package 'examples/viz' defined by /home/dmitriy/git/drake/examples/viz/BUILD.bazel
WARNING: Target pattern parsing failed.
ERROR: no such target '//examples/viz:trajectory_publisher': target 'trajectory_publisher' not declared in package 'examples/viz' defined by /home/dmitriy/git/drake/examples/viz/BUILD.bazel
INFO: Elapsed time: 3.689s
INFO: 0 processes.
FAILED: Build did NOT complete successfully (1 packages loaded)
FAILED: Build did NOT complete successfully (1 packages loaded)

Hello. I have been following your tutorial on page https://drake.guzhaoyuan.com/thing-to-do-in-drake/hello-drake and encountered the error below.

Upon running command "bazel run //examples/hello:hello_exe", the error occurred:

ERROR: /Users/wong_imacpro/Programs/drake/examples/hello/BUILD.bazel:6:16: no such target '//common:text_logging_gflags': target 'text_logging_gflags' not declared in package 'common' (did you mean 'add_text_logging_gflags'?) defined by /Users/wong_imacpro/Programs/drake/common/BUILD.bazel and referenced by '//examples/hello:hello_exe'
ERROR: Analysis of target '//examples/hello:hello_exe' failed; build aborted: Analysis failed
INFO: Elapsed time: 0.234s
INFO: 0 processes.
FAILED: Build did NOT complete successfully (0 packages loaded, 0 targets conf
FAILED: Build did NOT complete successfully (0 packages loaded, 0 targets conf
igured)

I built drake from source obtained at [email protected]:RobotLocomotion/drake.git.
My system.. MacOS Big Sur V11.2.3 ... I searched but couldn't find anything relating to this issue. Thanks

I'm the Drake rookie.Now,I wanna create a environment like that a arm robot grasp the box.I can use URDF to create the arm robot to Drake visualizer.What should I do to create the box in the Drake visualizer? And,I also wanna know how to set the character of the box,like its position,size,weight and so on.Thank you very much!

I run this

bazel run //examples/hello:hello_exe`

I have got this:

dmitriy@dmitriy:~/git/drake$ bazel run //examples/hello:hello_exe
ERROR: /home/dmitriy/git/drake/examples/hello/BUILD.bazel:7:16: no such target '//common:text_logging_gflags': target 'text_logging_gflags' not declared in package 'common' (did you mean 'add_text_logging_gflags'?) defined by /home/dmitriy/git/drake/common/BUILD.bazel and referenced by '//examples/hello:hello_exe'
ERROR: Analysis of target '//examples/hello:hello_exe' failed; build aborted: Analysis failed
INFO: Elapsed time: 2.463s
INFO: 0 processes.
FAILED: Build did NOT complete successfully (4 packages loaded, 1 ta
FAILED: Build did NOT complete successfully (4 packages loaded, 1 ta
rget configured)

Looking at the code here, you do

  dp->AddJointActuator("a1", dp->GetJointByName("upper_joint"));
  dp->AddJointActuator("a1", dp->GetJointByName("lower_joint"));

However every double pendulum I've seen implemented before has one actuator on the lower joint. If the lower joint and upper joint can be independently controlled, it will make the problem a lot easier to solve IIRC

Questions:

1. Why does the implementation have 2 actuators?
2. How would you edit this code to have only one actuator?

TLDR I guess I'm interested in how to leave joints that are completely passive in Drake and wondering how to set that up. Or do I have to set up a Joint Actuator for each joint