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April 23, 2025 16:14
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Minimal Drake C++ example
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| cmake_minimum_required(VERSION 3.26) | |
| project(drake_project) | |
| # N.B. This is a temporary flag. It only really applies to Linux, as Mac | |
| # does not need X11. | |
| option(RUN_X11_TESTS "Run tests that require X11" OFF) | |
| include(CTest) | |
| set (drake_DIR /home/michalpelka/physics/drake-build/install/lib/cmake/drake/) | |
| find_package(drake CONFIG REQUIRED) | |
| find_package(Gflags REQUIRED) | |
| find_package(Glog REQUIRED) | |
| message(STATUS "GFLAGS include path: ${GFLAGS_INCLUDE_DIR}") | |
| set(CMAKE_CXX_EXTENSIONS OFF) | |
| set(CMAKE_CXX_STANDARD 20) | |
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | |
| set(CMAKE_POSITION_INDEPENDENT_CODE ON) | |
| add_executable(drake_project DrakeHello.cpp) | |
| target_link_libraries(drake_project PRIVATE drake::drake ${GFLAGS_LIBRARIES} ) | |
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| #include <iostream> | |
| #include <gflags/gflags.h> | |
| #include "drake/multibody/benchmarks/inclined_plane/inclined_plane_plant.h" | |
| #include "drake/systems/analysis/simulator.h" | |
| #include "drake/systems/framework/diagram_builder.h" | |
| #include "drake/multibody/parsing/parser.h" | |
| const char* dropped_ball_xml = R"( | |
| <mujoco model="dropped_ball"> | |
| <option gravity="0 0 -9.81"/> | |
| <worldbody> | |
| <!-- Ground plane --> | |
| <geom name="floor" type="plane" pos="0 0 -1" size="5 5 0.1" rgba="0.2 0.3 0.4 1"/> | |
| <!-- Dropped ball --> | |
| <body name="ball" pos="0 0 2"> | |
| <joint type="free"/> | |
| <geom type="sphere" size="0.1" rgba="1 0 0 1"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |
| )"; | |
| int main () | |
| { | |
| using namespace drake; | |
| drake::systems::DiagramBuilder<double> builder; | |
| using drake::multibody::MultibodyPlant; | |
| drake::multibody::MultibodyPlantConfig plant_config; | |
| plant_config.time_step = 0.0001; | |
| plant_config.stiction_tolerance = 1.0E-5; | |
| plant_config.discrete_contact_approximation = "tamsi"; | |
| auto [plant, scene_graph] = multibody::AddMultibodyPlantSceneGraph(&builder, 0.0); | |
| multibody::Parser parser(&plant); | |
| parser.AddModelsFromString(dropped_ball_xml, "xml"); | |
| plant.Finalize(); | |
| std::cout << "number of bodies " << plant.num_bodies() << std::endl; | |
| auto diagram = builder.Build(); | |
| systems::Simulator<double> simulator(*diagram); | |
| simulator.Initialize(); | |
| auto& plant_context = diagram->GetMutableSubsystemContext(plant, &simulator.get_mutable_context()); | |
| const double dt = 0.01; | |
| for (int i =0; i < 1000; i++) | |
| { | |
| simulator.AdvanceTo(i*dt); | |
| const auto& body = plant.get_body(drake::multibody::BodyIndex(1)); | |
| auto X_WB = plant.EvalBodyPoseInWorld(plant_context, body); | |
| auto p = X_WB.translation(); | |
| std::cout << " " << body.name() << ": (" << p[0] << ", " << p[1] << ", " << p[2] << ")" << std::endl; | |
| } | |
| } | |
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