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<!DOCTYPE html>
<html lang="en-US">
<head>
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<meta charset="utf-8"/>
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<title>Drake: Gallery</title>
<meta
name="description"
content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
analysis.
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<h1>Gallery</h1>
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<article class="markdown-body">
<p>If you have an example from your own work that you would like to showcase, please edit <code class="language-plaintext highlighter-rouge">doc/_pages/gallery.md</code> directly and submit a pull request!</p>
<!--
TODO(eric.cousineau): Make video preview images resize according to their
aspect ratio.
-->
<h1 id="underactuated-robotics">Underactuated Robotics</h1>
<p>Drake is being used to teach <a href="https://underactuated.csail.mit.edu/">Underactuated Robotics</a>
at MIT. The course textbook has
numerous examples of modeling, controlling, and analyzing many of the canonical
problems in dynamics and control for robotics.</p>
<h1 id="manipulation">Manipulation</h1>
<p>The robotics team at TRI is exploring learning and by combining Drake with
external high-fidelity rendering, we can generate highly realistic, both
physically and visually, machine-learning training data to further our research.</p>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/5aVDWjWd0EU" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<p>The Robotics team at TRI is working hard to close the gap between simulation and
reality. For manipulation, one important piece is accurate simulation of
rigid-body contact.</p>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/X9QuMrx-psk" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/b_HfjGCa0jU" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<p><em>Source Code:</em> <a href="https://github.com/RobotLocomotion/drake/tree/master/examples/kuka_iiwa_arm">drake/examples/kuka_iiwa_arm</a></p>
<h1 id="manipulation-class-at-mit">Manipulation class at MIT</h1>
<p>Drake is being used to teach a new <a href="https://manipulation.csail.mit.edu/">course on manipulation at MIT</a>.
The course software and materials give
a complete autonomous manipulation pipeline, including deep and geometric
perception, planning, and control. Here is a highlight video of the class
“manipulation station” (the three views are rendered from the RGB-D cameras
mounted on the station):</p>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/zUS33rvbRsc" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<p><em>Source Code:</em> <a href="https://github.com/RobotLocomotion/drake/tree/master/examples/manipulation_station">drake/examples/manipulation_station</a></p>
<h1 id="trajectory-optimization">Trajectory Optimization</h1>
<p>Michael Posa and the UPenn DAIR lab have an implementation of DIRCON,
as described in</p>
<p>Michael Posa, Scott Kuindersma, Russ Tedrake. “Optimization and
Stabilization of Trajectories for Constrained Dynamical Systems.” ICRA, 2016.</p>
<p><em>Source Code:</em> <a href="https://github.com/DAIRLab/dairlib/tree/master/systems/trajectory_optimization/dircon">https://github.com/DAIRLab/dairlib/tree/master/systems/trajectory_optimization/dircon</a></p>
<h1 id="task-and-motion-planning">Task and Motion Planning</h1>
<p>Caelan Garrett has examples using Drake in his STRIPStream/PDDLStream
task-and-motion-planning framework.</p>
<p><img class="gallery" height="224" src="https://github.com/caelan/pddlstream/raw/d0eb256e88b8b5174fbd136a82867fd9e9cebc67/images/drake_kuka.png" /></p>
<p><em>Source Code:</em> <a href="https://github.com/caelan/pddlstream#drake">https://github.com/caelan/pddlstream#drake</a></p>
<h1 id="modelling-closed-loop-topologies">Modelling Closed Loop Topologies</h1>
<p>Drake has examples of combining its rigid body kinematic tree dynamics with
penalty forces to model a closed loop topology, such as a four bar linkage.</p>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/X34hCwJ_iq8" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/MGdETFQVqMg" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<p><em>Four Bar Source Code:</em> <a href="https://github.com/RobotLocomotion/drake/tree/master/examples/multibody/four_bar">https://github.com/RobotLocomotion/drake/tree/master/examples/multibody/four_bar</a></p>
<p><em>Strandbeest Source Code:</em> <a href="https://github.com/RobotLocomotion/drake/tree/master/examples/multibody/strandbeest">https://github.com/RobotLocomotion/drake/tree/master/examples/multibody/strandbeest</a></p>
<h1 id="hydroelastic-contact-between-non-convex-meshes">Hydroelastic contact between non-convex meshes</h1>
<p>Drake has an example of modeling hydroelastic contact between non-convex
meshes.</p>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/ItE5FNoNsTg" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<p><em>Source Code:</em> <a href="https://github.com/RobotLocomotion/drake/tree/master/examples/hydroelastic/python_nonconvex_mesh">drake/examples/hydroelastic/python_nonconvex_mesh</a></p>
<h1 id="third-party-documentation--tutorials">Third Party Documentation / Tutorials</h1>
<h2 id="gregs-tutorial-python">Greg’s Tutorial (Python)</h2>
<p>Greg Izatt put together a nice tutorial demonstrating how to put together a
pretty complete simulation of kuka iiwa picking up a block with dynamics,
planning, control, and depth sensing, all through the pydrake interface.</p>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/JS5l5lrEhJw" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<p><em>Source Code:</em> <a href="https://github.com/gizatt/drake_periscope_tutorial">https://github.com/gizatt/drake_periscope_tutorial</a></p>
<h2 id="zhaoyuans-tutorial-drake-concepts-c-examples">Zhaoyuan’s Tutorial (Drake concepts, C++ examples)</h2>
<p>Zhaoyuan Gu learned Drake from scratch as a 2019 TRI summer intern and
wrote this beginner’s tutorial: <a href="https://drake.guzhaoyuan.com/">https://drake.guzhaoyuan.com</a></p>
<p><img class="gallery" height="224px" src="https://blobscdn.gitbook.com/v0/b/gitbook-28427.appspot.com/o/assets%2F-LgYfwVg89cfloOSocyC%2F-LhJQm219Jka_jubcY86%2F-LhJQsQLlSIty5iywZxX%2FUntitled.gif?alt=media&token=c343b42a-5927-48c9-981b-b2074ae3da56" /></p>
<p><img class="gallery" height="224px" src="https://blobscdn.gitbook.com/v0/b/gitbook-28427.appspot.com/o/assets%2F-LgYfwVg89cfloOSocyC%2F-Lhq9MPiXqZNYqPUQ9bG%2F-Lhq9Tp8S5LlQUyPQaW-%2Fcart_pole_tracking.gif?alt=media&token=d5e653f0-810e-4008-8279-f1607cb12664" /></p>
<h2 id="shoe-simulation">Shoe simulation</h2>
<p>A great simulation of a robot tying shoe laces. Implemented using pydrake with
the laces represented with a piecewise linear approximation.</p>
<p>Authored by Michelle Tan, with help from Terry Suh, Mark Peterson, Russ Tedrake,
and the team at TRI</p>
<div class="video-wrap">
<iframe src="https://www.youtube.com/embed/ImKYMKyVdZc" width="640" height="360" frameborder="0" webkitallowfullscreen="" mozallowfullscreen="" allowfullscreen="">
</iframe>
</div>
<p><em>Interactive visualization:</em> <a href="https://mntan3.github.io/">https://mntan3.github.io/</a></p>
<p><em>Source Code:</em> <a href="https://github.com/RobotLocomotion/gym/tree/master/gym/envs/robot_locomotion_group/drake/shoe">https://github.com/RobotLocomotion/gym/tree/master/gym/envs/robot_locomotion_group/drake/shoe</a></p>
<h2 id="acromonk-an-underactuated-brachiation-robot-that-uses-pydrake-for-trajectory-optimization-and-stabilization">AcroMonk: An underactuated brachiation robot that uses Pydrake for trajectory optimization and stabilization</h2>
<p>AcroMonk is an underactuated brachiation robot that is able to brachiate over a horizontally laid ladder with a passive gripper on the real system.
Taking advantage of Pydrake, we have generated optimal trajectories and further stabilized them using Time-Varying Linear Quadratic Regulator (TVLQR).
The project is open-sourced to support education and research of brachiation with easy to implement hardware and the work is published in the journal of IEEE Robotics and Automation Letters 2023 (<a href="https://ieeexplore.ieee.org/document/10106397">IEEE</a>, <a href="https://arxiv.org/abs/2305.08373">arXiv</a>).</p>
<p><img width="400" src="https://github.com/dfki-ric-underactuated-lab/acromonk/blob/main/hardware/images/bf.gif?raw=true" /></p>
<p><img src="https://github.com/dfki-ric-underactuated-lab/acromonk/blob/main/hardware/images/5x-tvlqr.gif?raw=true" alt="tvlqr" /></p>
<p><em>Source Code:</em> <a href="https://github.com/dfki-ric-underactuated-lab/acromonk">AcroMonk</a></p>
<h2 id="brom_drake-a-helper-library-for-pydrake-python">brom_drake: A Helper Library for Pydrake (Python)</h2>
<p><code class="language-plaintext highlighter-rouge">brom_drake</code> is a pip-installable library that simplifies the process of debugging algorithms in <code class="language-plaintext highlighter-rouge">pydrake</code>. Some of its notable features are:</p>
<ul>
<li>The <code class="language-plaintext highlighter-rouge">DiagramWatcher</code> object which will automatically add loggers to your Drake diagram, simplifying the process of monitoring “what’s going on” between systems. (By default, the data from each of these loggers will get saved locally to your machine after the simulation is run.)</li>
<li>The <code class="language-plaintext highlighter-rouge">drakeify_my_urdf</code> function which will use open-source tools to convert many Drake-incompatible <code class="language-plaintext highlighter-rouge">.urdf</code> files into ones that are compatible with Drake.</li>
<li><code class="language-plaintext highlighter-rouge">Production</code> objects which are partially complete scenes that you can use to debug common algorithms (for example, motion planning algorithms).</li>
</ul>
<p><img class="gallery" height="224px" src="https://raw.githubusercontent.com/kwesiRutledge/brom_drake-py/refs/heads/main/promo/productions/motion_planning/kinematic/Chem-Lab-Demo.gif" /></p>
<p><em>Source Code:</em> <a href="https://github.com/kwesiRutledge/brom_drake-py">https://github.com/kwesiRutledge/brom_drake-py</a></p>
</article>
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