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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Autodiff support for the mechanical parameters in force elements #15241

Open chen-tianjian opened 3 years ago

chen-tianjian commented 3 years ago

Thanks for providing this great robotics toolkit! I wish to use Drake for optimal robot design and I need to calculated the gradients w.r.t mechanical parameters. I am wondering if it's possible and if it makes sense to have Autodiff support for the mechanical parameters in the force elements? For example, the spring stiffness and damping here: https://github.com/RobotLocomotion/drake/blob/f72aecf2b5e7e4a170ffdd75f8596d91d0deab83/multibody/tree/linear_spring_damper.h#L67

(If there is already a way to calculate this kind of gradients using Autodiff, please let me know!) Thanks so much!

sherm1 commented 3 years ago

Can you comment on this, @joemasterjohn ?