Drake

Common

A model-based robotics simulation and optimization toolbox led by MIT and the Toyota Research Institute.

Drake is an open-source C++ toolbox started by Russ Tedrake’s group at MIT, with deep involvement from the Toyota Research Institute (TRI), and a Python interface called pydrake. It positions itself around “model-based design and verification”: it includes multibody dynamics computation, physics simulation with contact, and a set of mathematical optimization interfaces that let you write trajectory optimization, inverse kinematics, or controller-design problems directly and hand them to a range of solvers. Unlike simulators built mainly for large-scale parallel training, Drake puts more emphasis on physical and numerical rigor. The companion code for Tedrake’s public courses Underactuated Robotics and Robotic Manipulation is built on Drake.

ExampleLoading an arm’s URDF with pydrake and writing an inverse-kinematics optimization problem to solve for the joint angles that bring the end effector to a target pose.

Also called: pydrake
Related: MuJoCo (Multi-Joint dynamics with Contact) · Pinocchio · Trajectory Optimization · Multibody Dynamics · Toyota Research Institute · Inverse Kinematics (IK)
Sources: Drake 官网 (Chinese)