{"action":"opened","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1153","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1153/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1153/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1153/events","html_url":"https://github.com/RobotLocomotion/drake/issues/1153","id":94323900,"number":1153,"title":"Visualizing InputFrame","user":{"login":"MohsenTamiz","id":11624998,"avatar_url":"https://avatars.githubusercontent.com/u/11624998?v=3","gravatar_id":"","url":"https://api.github.com/users/MohsenTamiz","html_url":"https://github.com/MohsenTamiz","followers_url":"https://api.github.com/users/MohsenTamiz/followers","following_url":"https://api.github.com/users/MohsenTamiz/following{/other_user}","gists_url":"https://api.github.com/users/MohsenTamiz/gists{/gist_id}","starred_url":"https://api.github.com/users/MohsenTamiz/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MohsenTamiz/subscriptions","organizations_url":"https://api.github.com/users/MohsenTamiz/orgs","repos_url":"https://api.github.com/users/MohsenTamiz/repos","events_url":"https://api.github.com/users/MohsenTamiz/events{/privacy}","received_events_url":"https://api.github.com/users/MohsenTamiz/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-07-10T15:00:33Z","updated_at":"2015-07-10T15:00:33Z","closed_at":null,"body":"My friends and I are working on drake for some months. We could get to some experience on NAO robot by drake, Now we faced with a problem getting information of coordinate frames. \r\nThis is our scenario, we have a robot plant and we have connected a pd control to it, now we want to find a way to visualize torque applied to the robot. Since we just have simulate outputs which are  trajectories of the OutputFrame and the StateFrame we have not a direct way to get the torque applied to the robot.\r\nThere are some ways to get around this trouble but all of them seem tricky and not work as well as we expect. For example we add a prallel system to the robot that just captures the input of the robot but this system could not properly use with pdcontrol function. As another way we cascade it with a unit DrakeSystem that was saving the input variables(as sensor classes works, we guess), but it seems not to be the correct way.\r\nIn general, is it possible to have some system in drake which works as a scope in simulink, and can we get an arbitrary frame of a DynamicalSystem to visulize it after simulation?\r\n\r\nThanks in advance\r\n "}}