Comments (1)
For 1, I believe the answer is yes. Though Drake does not support closed-loop kinematic chains, there's a way to "approximate" one. The four-bar linkage demo shows how to close an open chain using "bushing".
For 2, I don't think Drake supports closed chain in general, so no inverse dynamics yet.
For 3, CMake is outside the scope of this tutorial. Drake can be compiled using CMake. But if you want to use the binary version of Drake, you can install the binary rather than compiling using CMake.
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Related Issues (14)
- Minor issues in text HOT 1
- Error while trying Compile and execute "Create a URDF/SDF robot" example
- Problem with Visualize data in LCM
- Error in Visualize trajectory example
- Where the gen folder in Drake?
- How to add a geometry in Drake?
- Broken #include in hello.cc of the Hello, Drake! Tutorial
- Minor suggestion HOT 1
- Why does the double pendulum implementation use 2 Joint Actuators? HOT 2
- `Visualize data in LCM` How to see the trajectories? HOT 2
- failure to build HOT 1
- Error in hello example. HOT 1
- Error while trying Compile and execute "Hello, Drake" example HOT 2
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