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If you have an example from your own work that you would like to showcase, please edit doc/gallery.rst directly and submit a pull request!
The Robotics team at TRI is working hard to close the gap between simulation and reality. For manipulation, one important piece is accurate simulation of rigid-body contact.
Source Code: drake/examples/kuka_iiwa_arm
Michael Posa and the UPenn DAIR lab have an implementation of DIRCON, as described in
Michael Posa, Scott Kuindersma, Russ Tedrake. "Optimization and Stabilization of Trajectories for Constrained Dynamical Systems." ICRA, 2016.
Source Code: https://github.com/DAIRLab/dairlib-public/tree/master/systems/trajectory_optimization
Drake aims to have a wide suite of simulated sensors. As these tools expand, we'll include video highlighting their functionality.
This video is a sneak preview of an RGB sensor model using an advanced illumination model provided by OSPRay. This video was created by inserting a virtual RGB camera into the simulation (at an arbitrary fixed position in the simulation's world frame) of the controlled Kuka arm. The material properties are simple to highlight the impact of the lighting model. (October 2018)
Caelan Garrett has examples using Drake in his STRIPStream/PDDLStream task-and-motion-planning framework.
Source Code: https://github.com/caelan/pddlstream#drake
Greg Izatt put together a nice tutorial demonstrating how to put together a pretty complete simulation of kuka iiwa picking up a block with dynamics, planning, control, and depth sensing, all through the pydrake interface.
Source Code: https://github.com/gizatt/drake_periscope_tutorial