Simulation & digital-asset dossier · 06
Use YAML model directives, PackageMap resource resolution, URDF or SDFormat inputs and MultibodyPlant as an explicit assembly graph, while retaining the source, rights and parser behaviour of every referenced package.
Identify the exact asset first
Drake is a C++ and Python toolbox for model-based design and verification in robotics, with an emphasis on exposed mathematical structure, multibody dynamics, optimisation, planning and control. Its model directives schema assembles multiple URDF or SDFormat resources, frames, welds, namespaces and collision filters into a MultibodyPlant; PackageMap resolves local or remote package resources.
Digital asset map
URDF and SDFormat resources provide links, joints, geometry, inertials and referenced package assets.
Verify before adoptionFreeze source package, commit, parser version, file checksum, units, variant and all referenced meshes or textures.
YAML directives can add models, model instances, frames, welds, included directive files and collision-filter groups.
Verify before adoptionArchive flattened directives, namespaces, frame transforms, weld graph, collision filters and processing order.
PackageMap maps ROS-style package names to local paths and can download declared remote packages when requested.
Verify before adoptionPin remote URLs, archive type, sha256, strip prefix, package.xml, local map and offline reconstruction procedure.
MultibodyPlant and SceneGraph expose model structure for dynamics, contact, planning, optimisation and verification workflows.
Verify before adoptionRecord time step, scalar type, contact approximation, solver, geometry roles, context, parameters and analysis assumptions.
Layered licence reading
Drake states that its components use the BSD 3-Clause License, with noted portions potentially under other permissive licences.
Preserve notices, inspect noted exceptions and pin the release or commit used.
URDF, SDFormat, meshes and remotely resolved packages retain their own copyrights and licences.
Attach a package-level and file-level rights manifest to every assembled scenario.
Toolbox licensing does not grant unrelated trademark, design, dataset or hardware rights.
Separate analysis permission from redistribution, endorsement and manufacturing claims.
This table is a source-navigation and engineering-decision aid, not legal advice. Use original licence texts and qualified advice for an actual decision.
Model & asset validation gates
Drake release, flattened directives, package map, remote checksums, source licences, input files and generated plant summary.
Stop conditionStop if any package URI, remote checksum or included directive cannot be resolved deterministically.
Model instances, link/joint tree, frames, welds, limits, inertials, geometry roles, collision filters and parser diagnostics.
Stop conditionDo not proceed with unresolved duplicate names, missing frames, invalid inertials or unintended collision exclusions.
Static equilibrium, energy, gradients, contact, integration sensitivity, controller response and comparison with analytic or measured references.
Stop conditionDo not treat solver convergence as proof that the model or task assumptions are physically correct.
Declared proposition, model boundary, uncertainty, solver and options, seeds, tolerances, counterexamples and retained failure results.
Stop conditionDo not generalise a proof, optimisation result or simulation beyond its declared model and assumptions.
FUURAA analysis
Building explicit multibody assemblies whose mathematical structure can support dynamics, optimisation, planning, control and verification research.
A compact directive file can hide remote package changes, parser semantics, frame assumptions, collision filtering and numerical modelling choices.
Publish the flattened directive graph and resolved package manifest beside every result; then state exactly which physical proposition the model evidence supports.
Applicability boundary