Drake仿真

概述

Drake擅长于接触丰富动力学的高级操作仿真。

设置

import pydrake.all as pydrake

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

添加物体

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

接触建模

ContactVisualizer.AddToBuilder(builder, plant, scene_graph)

关键特性

• 精确的接触物理
• 轨迹优化
• 传感器仿真

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