Drake Simulation

Overview

Drake excels at manipulation simulation with contact-rich dynamics.

Setup

import pydrake.all as pydrake

builder = pydrake.diagramBuilder()
plant = builder.AddSystem(pydrake.multibody.Plant(0.001))
scene_graph = builder.AddSystem(pydrake.geometry.SceneGraph())

Adding Objects

parser = pydrake.multibody.parsing.Parser(plant)
parser.AddModelFromFile("model.sdf")
plant.Finalize()

Contact Modeling

ContactVisualizer.AddToBuilder(builder, plant, scene_graph)

Key Features

• Accurate contact physics
• Trajectory optimization
• Sensor simulation

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