repo_id stringclasses 205
values | file_path stringlengths 33 141 | content stringlengths 1 307k | __index_level_0__ int64 0 0 |
|---|---|---|---|
/home/johnshepherd | /home/johnshepherd/drake/CMakeLists.txt | # -*- mode: cmake -*-
# vi: set ft=cmake :
cmake_minimum_required(VERSION 3.16)
project(drake
DESCRIPTION "Model-based design and verification for robotics"
LANGUAGES C CXX
)
# The primary build system for Drake is Bazel (https://bazel.build/). For CMake,
# our objective is to accept configuration options using ... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/CONTRIBUTING.md | ### Contributing code
If you have improvements to Drake, send us your pull requests!
Please see our developer's page for details:
* `doc/_pages/developers.rst`
* [online version](https://drake.mit.edu/developers.html)
| 0 |
/home/johnshepherd | /home/johnshepherd/drake/CTestConfig.cmake | # -*- mode: cmake -*-
# vi: set ft=cmake :
set(CTEST_PROJECT_NAME drake)
set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
set(CTEST_DROP_METHOD https)
set(CTEST_DROP_SITE drake-cdash.csail.mit.edu)
set(CTEST_DROP_LOCATION "/submit.php?project=${CTEST_PROJECT_NAME}")
set(CTEST_DROP_SITE_CDASH ON)
| 0 |
/home/johnshepherd | /home/johnshepherd/drake/BUILD.bazel | # This file is named BUILD.bazel instead of the more typical BUILD, so that on
# OSX it won't conflict with a build artifacts directory named "build".
load("//tools/install:install.bzl", "install", "install_test")
load("//tools/lint:lint.bzl", "add_lint_tests")
load("//tools/skylark:py.bzl", "py_library")
package(
... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/README.md | # Drake
Model-Based Design and Verification for Robotics.
Please see the [Drake Documentation](https://drake.mit.edu) for more
information.
| 0 |
/home/johnshepherd | /home/johnshepherd/drake/.bazelignore | debian
| 0 |
/home/johnshepherd | /home/johnshepherd/drake/.clang-tidy | ---
# This file is not used by CI and the checks included are not part of the Drake style guide
Checks: >
clang-analyzer-*,
clang-diagnostic-*,
cppcoreguidelines-*,
google-*,
modernize-*,
performance-*,
readability-*,
-cppcoreguidelines-pro-bounds-array-to... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/LICENSE.TXT | All components of Drake are licensed under the BSD 3-Clause License
shown below. Where noted in the source code, some portions may
be subject to other permissive, non-viral licenses.
Copyright 2012-2022 Robot Locomotion Group @ CSAIL
All rights reserved.
Redistribution and use in source and binary forms, with or wit... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/.editorconfig | # This is drake's EditorConfig file. It allows users to have per-project coding
# styles. For more information, see http://editorconfig.org/
#
# top-most EditorConfig file
root = true
# Unix-style newlines with a newline ending every file
[*]
charset = utf-8
end_of_line = lf
indent_size = 2
indent_style = space
insert... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/.bazelproject | # This is the default project view file for CLion. It describes which
# directories and targets CLion should traverse when ingesting the Bazel build.
#
# Developers who only wish to work on a subset of Drake may maintain custom
# project views locally. The more narrowly scoped the project view, the faster
# CLion index... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/.clang-format | # -*- yaml -*-
# This file determines clang-format's style settings; for details, refer to
# http://clang.llvm.org/docs/ClangFormatStyleOptions.html
BasedOnStyle: Google
Language: Cpp
# Force pointers to the type for C++.
DerivePointerAlignment: false
PointerAlignment: Left
# Compress functions onto a single line... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/.bazelrc | # Import default settings (also shared with CMake builds).
import %workspace%/tools/bazel.rc
# Import some helper configurations (not shared with CMake builds).
import %workspace%/tools/cc_toolchain/bazel.rc
import %workspace%/tools/dynamic_analysis/bazel.rc
import %workspace%/tools/lint/bazel.rc
# Import environment... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/__init__.py | # It confusing to have both drake-the-workspace and drake-the-lcmtypes-package
# on sys.path at the same time via Bazel's py_library(imports = ...).
#
# To prevent that confusion, and possibly also import errors, in our
# //lcmtypes:lcmtypes_drake_py rule we use add_current_package_to_imports =
# False, and then here i... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/WORKSPACE | # This file marks a workspace root for the Bazel build system.
# See `https://bazel.build/`.
workspace(name = "drake")
load("//tools/workspace:default.bzl", "add_default_workspace")
add_default_workspace()
load("@build_bazel_apple_support//crosstool:setup.bzl", "apple_cc_configure")
apple_cc_configure()
# Add som... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/package.xml | <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
<name>drake</name>
<version>0.0.0</version>
<description>
Model-Based Design and Verification for Robotics.
</description>
<maintainer email="d... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/.bazeliskrc | # When bazelisk in use (as is typical, per Drake install_prereqs), this dotfile
# specifies which version of Bazel should be used to build and test Drake.
USE_BAZEL_VERSION=7.1.1
# For some reason the google mirrors are very flaky in Drake CI in EC2, so
# we'll point to the GitHub mirrors instead.
BAZELISK_BASE_URL=ht... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/CTestCustom.cmake.in | # -*- mode: cmake -*-
# vi: set ft=cmake :
list(APPEND CTEST_CUSTOM_COVERAGE_EXCLUDE
".*/test/.*"
".*/third_party/.*"
)
string(ASCII 27 ESC)
# Note that due to limitations in the CMake language there may only be one
# element in each list containing mismatched opening square brackets
# (i.e., [ without matching ... | 0 |
/home/johnshepherd | /home/johnshepherd/drake/.drake-find_resource-sentinel | This file is used as a sentinel to anchor the implementation of FindResource.
| 0 |
/home/johnshepherd | /home/johnshepherd/drake/CPPLINT.cfg | # Copyright 2016 Robot Locomotion Group @ CSAIL. All rights reserved.
#
# All components of Drake are licensed under the BSD 3-Clause License.
# See LICENSE.TXT or https://drake.mit.edu/ for details.
# Stop searching for additional config files.
set noparent
# Disable a warning about C++ features that were not in the... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/third_party/BUILD.bazel | load("//tools/lint:lint.bzl", "add_lint_tests")
package(default_visibility = ["//visibility:public"])
exports_files(glob([
"com_github_bazelbuild_bazelisk/**",
"com_github_bazelbuild_rules_python/**",
]))
add_lint_tests(
bazel_lint_extra_srcs = [
"com_github_bazelbuild_rules_cc/whole_archive.bzl"... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/third_party/README.md | The `/third_party` sub-directory contains software that is housed alongside
Drake, but was not authored by the Drake developers. It typically has
different copyright ownership and licensing terms than the rest of Drake.
| 0 |
/home/johnshepherd/drake/third_party | /home/johnshepherd/drake/third_party/com_github_bazelbuild_rules_python/internal_config_repo.bzl | # Copyright 2023 The Bazel Authors. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable la... | 0 |
/home/johnshepherd/drake/third_party | /home/johnshepherd/drake/third_party/com_github_bazelbuild_rules_python/LICENSE | Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
... | 0 |
/home/johnshepherd/drake/third_party | /home/johnshepherd/drake/third_party/com_github_bazelbuild_rules_cc/whole_archive.bzl | # Copyright 2019 The Bazel Authors. All rights reserved.
# Copyright 2019 Toyota Research Institute. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apa... | 0 |
/home/johnshepherd/drake/third_party | /home/johnshepherd/drake/third_party/com_github_bazelbuild_rules_cc/LICENSE |
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
... | 0 |
/home/johnshepherd/drake/third_party | /home/johnshepherd/drake/third_party/com_github_bazelbuild_bazelisk/bazelisk.py | #!/usr/bin/env python3
"""
Copyright 2018 Google Inc. All rights reserved.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applica... | 0 |
/home/johnshepherd/drake/third_party | /home/johnshepherd/drake/third_party/com_github_bazelbuild_bazelisk/LICENSE | Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
... | 0 |
/home/johnshepherd/drake/third_party | /home/johnshepherd/drake/third_party/com_github_tensorflow_tensorflow/README.md | These files are copied from https://github.com/tensorflow/tensorflow which is
licensed as Apache-2.0.
| 0 |
/home/johnshepherd/drake/third_party | /home/johnshepherd/drake/third_party/com_github_tensorflow_tensorflow/LICENSE | Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
... | 0 |
/home/johnshepherd/drake/third_party/com_github_tensorflow_tensorflow/third_party | /home/johnshepherd/drake/third_party/com_github_tensorflow_tensorflow/third_party/jpeg/jpeg.BUILD | # Description:
# libjpeg-turbo is a drop in replacement for jpeglib optimized with SIMD.
load("@bazel_skylib//rules:expand_template.bzl", "expand_template")
load("@bazel_skylib//rules:common_settings.bzl", "string_flag")
licenses(["notice"]) # custom notice-style license, see LICENSE.md
exports_files(["LICENSE.md... | 0 |
/home/johnshepherd/drake/third_party/com_github_tensorflow_tensorflow/third_party | /home/johnshepherd/drake/third_party/com_github_tensorflow_tensorflow/third_party/jpeg/workspace.bzl | """loads the jpeg library, used by TF."""
load("//third_party:repo.bzl", "tf_http_archive", "tf_mirror_urls")
def repo():
tf_http_archive(
name = "libjpeg_turbo",
urls = tf_mirror_urls("https://github.com/libjpeg-turbo/libjpeg-turbo/archive/refs/tags/2.1.4.tar.gz"),
sha256 = "a78b05c0d8427... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_iiwa_status.lcm | package drake;
struct lcmt_iiwa_status {
// The timestamp in microseconds.
int64_t utime;
int32_t num_joints;
// From FRI documentation: "The currently measured joint positions of the
// robot in radians."
double joint_position_measured[num_joints];
// The FRI driver does not provide velocity; we esti... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_acrobot_u.lcm | package drake;
struct lcmt_acrobot_u
{
int64_t timestamp;
double tau; // Newton-meters
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_force_torque.lcm | package drake;
struct lcmt_force_torque {
// The timestamp in milliseconds.
int64_t timestamp;
double fx;
double fy;
double fz;
double tx;
double ty;
double tz;
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/BUILD.bazel | load("//tools/install:install.bzl", "install")
load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
"drake_transitive_installed_hdrs_filegroup",
)
load(
"//tools/skylark:drake_java.bzl",
"drake_java_binary",
)
load(
... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_allegro_status.lcm | package drake;
struct lcmt_allegro_status {
// The timestamp in microseconds.
int64_t utime;
int32_t num_joints;
double joint_position_measured[num_joints];
double joint_velocity_estimated[num_joints];
double joint_position_commanded[num_joints];
double joint_torque_commanded[num_joints];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_hydroelastic_quadrature_per_point_data_for_viz.lcm | package drake;
struct lcmt_hydroelastic_quadrature_per_point_data_for_viz {
// The quadrature point Q, as an offset vector in the world frame W, at which
// the traction and slip velocities are evaluated.
double p_WQ[3];
// Denoting Point Aq as the point of Body A coincident with Q and Point Bq as
// the po... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_planar_gripper_finger_status.lcm | package drake;
struct lcmt_planar_gripper_finger_status
{
double joint_position[2];
double joint_velocity[2];
// Torques here are ignored.
lcmt_force_torque fingertip_force;
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/experimental_lcmt_deformable_tri_meshes_init.lcm | package drake;
struct experimental_lcmt_deformable_tri_meshes_init {
int32_t num_meshes;
experimental_lcmt_deformable_tri_mesh_init meshes[num_meshes];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_panda_command.lcm | package drake;
// Commands the desired state of a Franka Panda arm.
//
// The Franka Control Interface provides a number of possible modes to control
// the arm, as described in
//
// https://frankaemika.github.io/docs/libfranka.html#realtime-commands
//
// The expected control mode is given by the control_mode_expe... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_header.lcm | package drake;
// This holds timestamp and a particular coordinate frame.
// This follows ROS's convention except the timestamp since
// utime has been widely used in Drake LCM.
struct lcmt_header {
// Sequence ID: consecutively increasing ID.
int32_t seq;
// Timestamp in microseconds.
int64_t utime;
// The ... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/defs.bzl | # This is a list of all *.lcm files in this folder.
# Our BUILD.bazel rules cross-check that it remains up-to-date.
ALL_LCM_SRCS = [
"experimental_lcmt_deformable_tri.lcm",
"experimental_lcmt_deformable_tri_mesh_init.lcm",
"experimental_lcmt_deformable_tri_mesh_update.lcm",
"experimental_lcmt_deformable... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_planar_plant_state.lcm | package drake;
// The current status of the entire planar-gripper/brick MBP. All angular
// positions/velocities are expressed in radians and radians/second.
struct lcmt_planar_plant_state
{
// in microseconds
int64_t utime;
int32_t num_states;
double plant_state[num_states];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_iiwa_status_telemetry.lcm | package drake;
struct lcmt_iiwa_status_telemetry {
// Host's timestamp in micro seconds when the status packet is received.
int64_t host_utime;
// Iiwa controller's timestamp in micro seconds for the status packet.
int64_t iiwa_utime;
// Estimated offset defined as: host - iiwa
int64_t estimated_dt_host_mi... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_planar_gripper_finger_face_assignment.lcm | package drake;
// Communicates the finger-face assignment info for a specified finger.
struct lcmt_planar_gripper_finger_face_assignment {
// in microseconds
int64_t utime;
// Finger name: {finger1, finger2, finger3}
string finger_name;
// Brick face name: {PosY, NegY, PosZ, NegZ}
string brick_face_name;... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_robot_state.lcm | package drake;
struct lcmt_robot_state
{
int64_t utime;
int16_t num_joints;
string joint_name[num_joints];
float joint_position[num_joints];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_panda_status.lcm | package drake;
// The current status of a Franka Panda arm. All angular
// positions/velocities are expressed in radians and radians/second.
//
// The fields of this message are based on the franka::RobotState message
// found in libfranka, see
// https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.htm... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_contact_results_for_viz.lcm | package drake;
struct lcmt_contact_results_for_viz {
// in microseconds
int64_t timestamp;
int32_t num_point_pair_contacts;
lcmt_point_pair_contact_info_for_viz point_pair_contact_info[
num_point_pair_contacts];
int32_t num_hydroelastic_contacts;
lcmt_hydroelastic_contact_surface_for_viz hydroelast... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_drake_signal.lcm | package drake;
// This LCM message contains a basic vector of doubles that can represent any
// signal passed around in Drake. Note that the channel name on which this
// message is sent will represent the name of the overall signal.
struct lcmt_drake_signal {
// The number of elements in the signal.
int32_t dim;
... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_point_pair_contact_info_for_viz.lcm | package drake;
struct lcmt_point_pair_contact_info_for_viz {
// TODO(edrumwri) Consider removing this data which is already present in the
// structure in which this message is stored (lcmt_contact_results_for_viz).
// In microseconds
int64_t timestamp;
// Names of the colliding bodies
string body1_name;
... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_planar_gripper_finger_face_assignments.lcm | package drake;
// Communicates the finger-face assignments for each finger.
// of the planar-gripper.
struct lcmt_planar_gripper_finger_face_assignments {
// in microseconds
int64_t utime;
int32_t num_fingers;
lcmt_planar_gripper_finger_face_assignment
finger_face_assignments[num_fingers];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_viewer_command.lcm | package drake;
struct lcmt_viewer_command {
int8_t command_type;
string command_data;
// enum for viewer command type
const int8_t STATUS = 0;
const int8_t LOAD_MODEL = 1;
const int8_t LOAD_RENDERER = 2;
const int8_t SHUTDOWN = 3;
const int8_t START_RECORDING = 4;
const i... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_point.lcm | package drake;
// A representation of a 3D point.
struct lcmt_point {
double x;
double y;
double z;
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_call_python_data.lcm | package drake;
// Generic data structure to wrap Python data types, for use with CallPython.
// For historical reasons, interface is modeled on mxArray (see
// https://www.mathworks.com/help/matlab/matlab_external/matlab-data.html).
struct lcmt_call_python_data {
// For data_type.
const int8_t
REMOTE_VARIABLE_... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_viewer_geometry_data.lcm | package drake;
struct lcmt_viewer_geometry_data {
int8_t type;
// Defines an enum for geometry type.
const int8_t BOX = 1;
const int8_t SPHERE = 2;
const int8_t CYLINDER = 3;
const int8_t MESH = 4;
const int8_t CAPSULE = 5;
const int8_t ELLIPSOID = 6;
float posit... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_schunk_wsg_status.lcm | package drake;
struct lcmt_schunk_wsg_status
{
int64_t utime; //< The timestamp in microseconds.
double actual_position_mm;
// The combined force being applied by both gripper fingers in newtons.
// While some implementations may report a negative value for this field
// under some circumstances, it shoul... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_image.lcm | package drake;
// A representation of an image.
struct lcmt_image {
// The timestamp and the frame name where this image is obtained.
lcmt_header header;
// The image width in pixels.
int32_t width;
// The image height in pixels.
int32_t height;
// The physical memory size per a single row in bytes.
... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_jaco_command.lcm | package drake;
// Commands a single set of joint states for the arm. All angular
// positions/velocities are expressed in radians and radians/second.
struct lcmt_jaco_command {
// The timestamp in microseconds.
int64_t utime;
int32_t num_joints;
double joint_position[num_joints];
double joint_velocity[num_... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/experimental_lcmt_deformable_tri_meshes_update.lcm | package drake;
// For each mesh included in this message, provide the number of vertices and
// their positions in world space at time `timestamp`.
struct experimental_lcmt_deformable_tri_meshes_update {
// in microseconds
int64_t timestamp;
int32_t num_meshes;
experimental_lcmt_deformable_tri_mesh_update mesh... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_quaternion.lcm | package drake;
// A representation of an orientation in quaternion.
struct lcmt_quaternion {
double w;
double x;
double y;
double z;
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_allegro_command.lcm | package drake;
// Commands a single set of joint states for the hand.
struct lcmt_allegro_command {
// The timestamp in microseconds.
int64_t utime;
// The reference joint positions.
int32_t num_joints;
double joint_position[num_joints];
// The reference joint torques. They should only be sent when the ... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_planar_gripper_status.lcm | package drake;
// The current status of a planar-gripper. All angular
// positions/velocities are expressed in radians and radians/second.
struct lcmt_planar_gripper_status
{
// The timestamp in microseconds (this is typically the wall clock
// time of the sender https://en.wikipedia.org/wiki/Unix_time )
int64_... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/experimental_lcmt_deformable_tri_mesh_update.lcm | package drake;
// An update to the vertex positions of the mesh named `name`.
// * `num_vertices` is the number of vertex positions to be passed in this
// message.
// * `vertices_W[i]` contains the world space position of the i-th vertex
// passed in this message.
struct experimental_lcmt_deformable_tri_mesh_u... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_planar_gripper_command.lcm | package drake;
// Commands a single set of joint states for the planar gripper. All angular
// positions/velocities are expressed in radians and radians/second.
struct lcmt_planar_gripper_command {
// The timestamp in microseconds.
int64_t utime;
// The planar gripper consists of N fingers, each finger consist... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/__init__.py | # Empty Python module `__init__`, required to make this a module.
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_viewer_load_robot.lcm | package drake;
struct lcmt_viewer_load_robot {
int32_t num_links;
lcmt_viewer_link_data link[num_links];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_point_cloud_field.lcm | package drake;
// Describes one field (i.e., channel) within an lcmt_point_cloud.
//
// Modeled after PCL and ROS conventions:
// https://pointclouds.org/documentation/structpcl_1_1_p_c_l_point_field.html
// https://docs.ros.org/en/api/sensor_msgs/html/msg/PointField.html
// http://wiki.ros.org/pcl/Overview#Common_Poi... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_scope.lcm | package drake;
// The message type for LcmScopeSystem.
struct lcmt_scope {
// The timestamp in microseconds.
int64_t utime;
// The scoped value.
int32_t size;
double value[size];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_planar_gripper_finger_command.lcm | package drake;
struct lcmt_planar_gripper_finger_command
{
// Only used when the planar gripper is in joint position control mode.
// Otherwise, ignored.
double joint_position[2];
double joint_velocity[2];
// Only used when the planar gripper is in joint torque control mode.
// Otherwise, ignored.
doubl... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_hydroelastic_contact_surface_for_viz.lcm | package drake;
struct lcmt_hydroelastic_contact_surface_for_viz {
// The contact is between two bodies, but we track multiple names per body
// so that visualizers can fully disambiguate contacts:
//
// - name of the geometry affixed to the body which produced the surface.
// - name of the body.
// -... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_robot_plan.lcm | package drake;
struct lcmt_robot_plan
{
int64_t utime;
int32_t num_states;
lcmt_robot_state plan[num_states]; // each individual state is also timed.
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_acrobot_y.lcm | package drake;
struct lcmt_acrobot_y
{
int64_t timestamp;
double theta1; // measured position
double theta2;
double tau; // measured actual torque
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_planar_manipuland_status.lcm | package drake;
struct lcmt_planar_manipuland_status
{
// The timestamp in microseconds
int64_t utime;
// The translational position of the manipuland.
double position[2];
// The angle of the manipuland.
double theta;
// The translational velocity of the manipuland.
double velocity[2];
// The angular... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_iiwa_command.lcm | package drake;
// Commands a single set of joint states for the arm.
struct lcmt_iiwa_command {
// The timestamp in microseconds.
int64_t utime;
// The reference joint positions. They must be sent when the arm is in
// position control mode, but must be of size zero in torque control mode.
int32_t num_joint... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_call_python.lcm | package drake;
// Message to support asynchronous remote procedure calls to a Python
// client. For historical reasons, interface is modeled on mexCallMATLAB
// (see https://www.mathworks.com/help/matlab/apiref/mexcallmatlab.html) but
// with output arguments assigned in the remote client workspace due to the
// async... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_acrobot_x.lcm | package drake;
struct lcmt_acrobot_x
{
int64_t timestamp;
double theta1; // radians
double theta1Dot; // radians/sec
double theta2;
double theta2Dot;
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_point_cloud.lcm | package drake;
// Generic point cloud with runtime typing.
//
// Modeled after PCL and ROS conventions:
// https://pointclouds.org/documentation/structpcl_1_1_p_c_l_point_cloud2.html
// https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html
//
struct lcmt_point_cloud {
// Timestamp in microseconds.
int6... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_viewer_draw.lcm | package drake;
struct lcmt_viewer_draw {
// The timestamp in milliseconds.
int64_t timestamp;
int32_t num_links;
string link_name[num_links];
int32_t robot_num[num_links];
float position[num_links][3]; // x, y, z
float quaternion[num_links][4]; // w, x, y, z
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/experimental_lcmt_deformable_tri.lcm | package drake;
struct experimental_lcmt_deformable_tri {
// Indices into an array of vertex positions.
int32_t vertices[3];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_viewer_link_data.lcm | package drake;
struct lcmt_viewer_link_data {
string name;
int32_t robot_num;
int32_t num_geom;
lcmt_viewer_geometry_data geom[num_geom];
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_jaco_status.lcm | package drake;
// The current status of a Kinova Jaco arm. All angular
// positions/velocities are expressed in radians and radians/second.
struct lcmt_jaco_status
{
// The timestamp in microseconds (this is typically the wall clock
// time of the sender https://en.wikipedia.org/wiki/Unix_time )
int64_t utime;
... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_schunk_wsg_command.lcm | package drake;
struct lcmt_schunk_wsg_command
{
int64_t utime; //< The timestamp in microseconds.
double target_position_mm;
double force;
}
| 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/experimental_lcmt_deformable_tri_mesh_init.lcm | package drake;
// For the mesh with the given `name`, provide the minimum number of vertices
// expected from subsequent update messages as well as the connectivity of
// the surface triangle mesh, which is assumed to be unchanged throughout the
// entire simulation.
struct experimental_lcmt_deformable_tri_mesh_init {
... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/lcmtypes/lcmt_image_array.lcm | package drake;
// This is used for sending and/or receiving multiple images at the same time.
struct lcmt_image_array {
// The timestamp and the frame name.
// The timestamp holds when this data is packed. It's convenient to store
// the latest timestamp among the timestamps in `images` since it is possible
//... | 0 |
/home/johnshepherd/drake/lcmtypes | /home/johnshepherd/drake/lcmtypes/test/nested_types_test.py | # This test is simply to confirm that nested LCM-generated python messages are
# code-gen'd correctly, and can be imported at will. If something isn't
# working, it will raise an exception during instantiation or construction.
from drake import lcmt_robot_plan, lcmt_robot_state
outer = lcmt_robot_plan()
outer.num_st... | 0 |
/home/johnshepherd/drake/lcmtypes | /home/johnshepherd/drake/lcmtypes/test/test_message_test.cc | #include "drake/test_message.hpp"
#include <gtest/gtest.h>
#include "drake/lcm/lcm_messages.h"
namespace drake {
namespace lcm {
namespace {
GTEST_TEST(LcmTestMessageTest, Smoke) {
test_message foo{.value = 22.0};
const std::vector<uint8_t> bytes = EncodeLcmMessage(foo);
auto readback = DecodeLcmMessage<test_... | 0 |
/home/johnshepherd/drake/lcmtypes | /home/johnshepherd/drake/lcmtypes/test/drake-lcm-spy_install_test.py | import os
import subprocess
import unittest
import install_test_helper
class TestLcmSpy(unittest.TestCase):
def test_install(self):
# Get install directory.
install_dir = install_test_helper.get_install_dir()
executable_folder = os.path.join(install_dir, "bin")
try:
ins... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/examples/BUILD.bazel | load("//tools/install:install.bzl", "install")
load("//tools/lint:lint.bzl", "add_lint_tests")
load("//tools/skylark:drake_cc.bzl", "drake_cc_binary")
package(default_visibility = ["//visibility:private"])
drake_cc_binary(
name = "simple_continuous_time_system",
srcs = ["simple_continuous_time_system.cc"],
... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/examples/simple_mixed_continuous_and_discrete_time_system.cc | // Simple Mixed Continuous-Time/Discrete-Time System Example
//
// This is meant to be a sort of "hello world" example for the
// drake::system classes. It defines a very simple system with both continuous
// and discrete time dynamics, simulates it from a given initial condition, and
// checks the result.
#include "... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/examples/README-MATLAB.md |
Historical note: MATLAB-based examples
======================================
Prior to 2016, Drake was built around a substantial base of MATLAB software.
Most of that was removed from the head of git master during 2017.
To view or use the original MATLAB implementation of various examples, you may
use this tag:
ht... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/examples/simple_continuous_time_system.cc | // Simple Continuous Time System Example
//
// This is meant to be a sort of "hello world" example for the
// drake::system classes. It defines a very simple continuous time system,
// simulates it from a given initial condition, and checks the result.
#include "drake/systems/analysis/simulator.h"
#include "drake/sys... | 0 |
/home/johnshepherd/drake | /home/johnshepherd/drake/examples/simple_discrete_time_system.cc | // Simple Discrete Time System Example
//
// This is meant to be a sort of "hello world" example for the
// drake::system classes. It defines a very simple discrete time system,
// simulates it from a given initial condition, and checks the result.
#include "drake/systems/analysis/simulator.h"
#include "drake/systems... | 0 |
/home/johnshepherd/drake/examples | /home/johnshepherd/drake/examples/simple_gripper/simple_gripper.cc | #include <memory>
#include <string>
#include <fmt/format.h>
#include <gflags/gflags.h>
#include "drake/common/drake_assert.h"
#include "drake/geometry/scene_graph.h"
#include "drake/math/roll_pitch_yaw.h"
#include "drake/math/rotation_matrix.h"
#include "drake/multibody/parsing/parser.h"
#include "drake/multibody/pla... | 0 |
/home/johnshepherd/drake/examples | /home/johnshepherd/drake/examples/simple_gripper/BUILD.bazel | load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"//tools/skylark:drake_cc.bzl",
"drake_cc_binary",
"drake_cc_googletest",
"drake_cc_library",
)
package(default_visibility = ["//visibility:private"])
filegroup(
name = "models",
srcs = [
"simple_gripper.sdf",
"simple_mug.sd... | 0 |
/home/johnshepherd/drake/examples | /home/johnshepherd/drake/examples/simple_gripper/README.md | Simple Gripper Simulation
=========================
This simple gripper demo is used to exercise MultibodyPlant's contact modeling
in a gripping scenario. SceneGraph is used for both visualization and contact
handling.
This example models a gripper with two fingers. The right finger is fixed to the
main body of the g... | 0 |
/home/johnshepherd/drake/examples | /home/johnshepherd/drake/examples/simple_gripper/simple_mug.sdf | <?xml version="1.0"?>
<sdf version="1.7">
<model name="simple_mug">
<link name="simple_mug">
<inertial>
<pose>0.01 0 0.05 0 0 0</pose>
<mass>0.094</mass>
<inertia>
<ixx>0.000156</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000156</iyy>
<iyz... | 0 |
/home/johnshepherd/drake/examples | /home/johnshepherd/drake/examples/simple_gripper/simple_gripper.sdf | <?xml version="1.0"?>
<sdf version="1.7">
<!-- Note: This is the accompanying SDF file for the example demo in
simple_gripper.cc and deformable_box.cc and therefore these files must
be kept in sync.
This file defines the model for a simple gripper having two fingers on
prismatic joints. O... | 0 |
/home/johnshepherd/drake/examples | /home/johnshepherd/drake/examples/bouncing_ball/BUILD.bazel | load("//tools/lint:lint.bzl", "add_lint_tests")
load(
"//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
)
package(default_visibility = ["//visibility:private"])
drake_cc_library(
name = "bouncing_ball",
srcs = ["bouncing_ball.cc"],
hdrs = [
"bouncing_ball.h",
... | 0 |
/home/johnshepherd/drake/examples | /home/johnshepherd/drake/examples/bouncing_ball/bouncing_ball.cc | #include "drake/examples/bouncing_ball/bouncing_ball.h"
#include "drake/common/default_scalars.h"
DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(
class ::drake::examples::bouncing_ball::BouncingBall)
| 0 |
/home/johnshepherd/drake/examples | /home/johnshepherd/drake/examples/bouncing_ball/bouncing_ball.h | #pragma once
#include <memory>
#include <vector>
#include "drake/systems/framework/event.h"
#include "drake/systems/framework/leaf_system.h"
#include "drake/systems/framework/witness_function.h"
namespace drake {
namespace examples {
namespace bouncing_ball {
/// Dynamical representation of the idealized hybrid dyn... | 0 |
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