kinematics | Forward and inverse kinematics simulation in Javascript

Add to your code .generateCollisionShapes(recursive:) instance method for every participant (entity) that not only creates collision's shapes but also allows you to simulate physics.

You can use SymPy Python package for this.

SymPy official Doc

TutorialsPoint tutorial

Here are two things you might want to do to fix the problem.

1. Style your a tag so it takes full width/height (easier to click)
2. Change pointer-events: all to pointer-events: auto, since all is only for SVG (See: https://developer.mozilla.org/en-US/docs/Web/CSS/pointer-events).

You have two options here:

1. Set the option for the specific solver you use. You can know which solver is invoked by checking the result

I think you have a very easy problem to resolve. You're currently using drake::FindResourceOrThrow(). If you look at its documentation, you'll note:

The resource_path refers to the relative path within the Drake source repository, prepended with drake/.

You have a urdf in an arbitrary location. In that case, just pass a filesystem path without calling FindResource() (or any of its variants). Whether it is an absolute or relative path will depend on where your executable ends up w.r.t. the urdf in your built/installed system.

1. Better initial guess helps a lot. You can try to first solve a kinematic trajectory (without considering the forces), and then initialize your trajectory optimization variables with the kinematic trajectory.
2. When the optimization is infeasible, you can check which constraints are violated at the infeasible solution. Using function result.GetInfeasibleConstraints(prog), it returns the list of violated constraints, and then you can try to relax/remove the constraints. You can call prog.RemoveConstraint() function to remove a constraint, or relaxing the constraint bounds by using constraint.UpdateLowerBound(), constraint.UpdateUpperBound().

For Atlas jumping motion, we do have a Matlab implementation. If you check out the old matlab version of Drake, then in the folder drake/matlab/solvers/trajectoryOptimization/dev/testJump.m, it implements trajectory optimization for Atlas jumping up motion, using the idea in this paper

In testJump.m, I didn't use a kinematic trajectory as initial guess. I computed a initial posture of the robot standing on the ground, with contact forces uniformly distributed on each leg.

There are other nuances in testJump.m:

1. I scaled the decision variables for the contact forces by mass * g. So the decision variable value for the contact force is roughly in the order of 1. In the currently version of Drake, you can try SetVariableScaling() method in MathematicalProgram.
2. In testJump.m, the orientation of the floating base was represented by the Euler angles. In the current version of Drake, the floating base orientation is represented by unit quaternions. The time integration of the quaternion is a lot trickier than Euler angles. You can try QuaternionEulerIntegrationConstraint for the unit quaternion, and the rest of the joints can use Euler/Midpoint integration as usual.

Try:

Here's the key issue and the part that will be most helpful to other readers of this question. Catkin configures CMake to build shared libraries by default but CUDA separable compilation and nvlink only work with static libraries. You need to set your CUDA libraries (in your case, those in cwru_davinci_kinematics) to be static, always. You can do that by adding the STATIC keyword to the add_library call, as in:

You had a lot of errors in the code. Like in li, you gave css as display: inline;; and the sub-menu you didn't give any positions like position: absolute;

I have applied my changes below.

Thanks me later.