I have a part object that I’ve loaded into the drake simulator. The part is a free body, with a floating joint to the end effector. The end effector is a suction joint, which we can lock/unlock.

I am trying to use Drake to check for collisions in my scene. My setup consists of a table, a robot arm, and a part on top of the table.

I’m working on a motion planning problem with a continuum robot which is basically like:
base_link --> actuation_joint --> link1 --> passive_joint1 --> link2 --> passive_joint2 --> ....
Here this kinematic chain only has one DoF, the values of passive_joint1 and passive_joint2 are scalaractuation_joint, 2scalar*actuation_joint, etc.
Now since this kinematic chain only has one DoF, I want only to include the actuation_joint in the kinematic calculation, such as the function RationalForwardKinematics. I also want to include the other passive_links in the collision check.

I want to change the mass of a link in each trial to tabulate the max joint torque.
Upon loading the robot model,

I have been trying to use the C++ API of drake and the following is what I am trying to do.

Closed 5 days ago.

Closed 5 days ago.

I would like to serialize a Drake Trajectory to file using the Python API. It appears that some trajectory classes (BsplineTrajectory, PiecewisePolynomial) have serialization capabilities. However, I can’t find any examples of writing a trajectory object to file; the unit tests only show loading the trajectory from file. Is there a way that I can save trajectories to a file?

I am trying to modify the mock_station_simulation example to use Toppra to optimize a piecewise polynomial trajectory. The plant has 18 total positions (2 for door hinges, 7 for the arm, 2 for the gripper fingers, and 7 for the foam block that uses quaternion orientation). I tried passing an 18 width piecewise polynomial trajectory to Toppra with the non-iiwa related positions zeroed-out. But that failed since the plant defines the foam block with quaternions which aren’t supported in (Drake’s implementation of?) Toppra.

I’m building a two-segment planar continuum robot in drake. I already write a sdf file with multiple joints working as nodes for continuum robot. Theoretically, these joints will only controlled by the kinematic model (piecewise constant curvature).