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RobotLocomotion
Model-based design and verification for robotics.
The client will automatically attempt to reconnect to the meshcat url at a default 1-second cadence. The reconnect period can be tweaked by changing the url. http://localhost:7000/?reconnect_ms=10000 sets the reconnect...
Towards #17701. - - - This change is [](https://reviewable.io/reviews/robotlocomotion/drake/17727)
This PR introduces the ability to introduce simple PD controllers for each `JointActuator` in a `MultibodyPlant`. What this accomplishes: 1. Ability to model very stiff PD controllers as those used...
This class computes the link poses as rational function of the stereographic projection variables. --- This change is [](https://reviewable.io/reviews/robotlocomotion/drake/17572)
This change is [](https://reviewable.io/reviews/robotlocomotion/drake/17066)
Consider the following: ```python from pydrake.all import MathematicalProgram, Polynomial, Solve import pydrake.symbolic as sym import numpy as np prog = MathematicalProgram() x, u = prog.NewIndeterminates(1, "x"), prog.NewIndeterminates(1, "u") V_sym =...
Currently in InverseKinematics class, for each floating base, we add a constraint `zᵀz = 1` for its quaternion `z`. On the other hand, we initialize all decision variables to 0...
- Simple internal function to read VTK files of tetrahedral meshes Adapted from Xuchen's code. CC: @xuchenhan-tri - - - This change is [](https://reviewable.io/reviews/robotlocomotion/drake/17725)
First attempt at adding runtime detection for AVX2/FMA support, so that these instructions are used when available but no longer required. Tested by building Drake with default options on an...
Toward #17112 - - - This change is [](https://reviewable.io/reviews/robotlocomotion/drake/17719)
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Model-based design and verification for robotics.