brom-drake 0.0.1.post3

A set of convenient logging and testing tools for the Drake robotics toolbox.

brom_drake-py

Brom is a helper library for the Drake robotics simulation and verification library. Its goal is to simplify logging and robustness characterization of Drake simulations.

Usage

DiagramWatcher

It is recommended that you use the convenience function add_watcher_and_build to add a DiagramWatcher to your diagram.

# Drake imports
from pydrake.all import (
    DiagramBuilder, Simulator,
)
# All your other imports

from brom_drake.all import add_watcher_and_build

# Create a diagram builder
builder = DiagramBuilder()

# Add and connect your systems...

# Add the watcher and build the diagram
dw, diagram, diagram_context = add_watcher_and_build(builder)

# Set up simulation
simulator = Simulator(diagram, diagram_context)
simulator.set_target_realtime_rate(1.0)
simulator.set_publish_every_time_step(False)

# Run simulation
simulator.Initialize()
simulator.AdvanceTo(15.0)

What will happen whenever you use this function is that:

• The DiagramWatcher will be created.
  • It will search through all systems that the DiagramBuilder has added.
  • For each system, the watcher will add a VectorLogger to each output port that is a kVectorValued port.
  • The DiagramWatcher will connect all loggers to all targeted ports (in this case, we will target all available output ports).
• After the simulation is run and the script completes, the watcher will save all of the data traces for each port in plots. These plots will be in a new .brom directory.

Installation

Local install:

pip install -r requirements.txt
pip install -e .

FAQs

Why the name Brom?

Brom the storyteller is a character from the Inheritance series by Christopher Paolini. He is a wise mentor that helps Eragon (the protagonist) master dragons. ;)

Related Work

Some other work in the open-source drake community:

• kinova_drake - A Drake-based library that builds a simple version of the manipulation station for the Kinova Gen3 robot arm. Also works with the hardware.

To-Dos

• Figure out how to tell if two systems are connected in Drake.
• Demonstrate how to create a simple Vector logger for the tutorial's diagram.
  • Determine if we can use DiagramTarget objects to do everything (assuming that they are all valid). i.e., with the name and the port # can we do waht we want?
• Add more examples
• Add Code coverage
• Add support for abstract output ports?
• Add more readme explanations of what is going on under the hood.
• Add support for giving DiagramTarget (or simpler objects) to the convenience functions.