underactuated学习之-drake环境配置

​​​境http:// http://underactuated.csail.mit.edu/drake.html#notebooks

安装步骤按照上图即可

我的环境：

ubuntu18.04 + anaconda3 + python3.6

最好用aconda 新建一个虚拟环境

conda create --name underactuated python=3.6

conda activate underactuated

1.Download the binaries

curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-bionic.tar.gz

2.Unpack and set your PYTHONPATH and Test

sudo tar -xvzf drake.tar.gz -C /opt
sudo /opt/drake/share/drake/setup/install_prereqs
export PYTHONPATH=/opt/drake/lib/python3.6/site-packages:${PYTHONPATH}

python3 -c 'import pydrake; print(pydrake.__file__)'

3.Download the textbook supplement

git clone https://github.com/RussTedrake/underactuated.git

and install the prerequisites using the platform-specific installation script provided:

4.

cd underactuated
sudo setup/ubuntu/18.04/install_prereqs.sh
pip3 install --requirement requirements.txt
export PYTHONPATH=`pwd`:${PYTHONPATH}

在执行pip3 install --requirement requirements.txt时我遇到找不到drake==0.37.0的清醒，然后在requirements.txt中就注释掉这一行

安装其余的依赖，因为之前二进制安装了，所以这一步找不到drake==0.37.0没关系的。

5然后升级notebook（否则会出现i loop 一直连接的现象 ）

python3 -m pip install --upgrade notebook

6.

pip3 install ipywidgets

7.Run Jupyter Notebook

jupyter notebook

8.运行测试multibody.ipynb

安装不同版本的二进制文件

Drake: Installation via Direct DownloadDrake ("dragon" in Middle English) is a C++ toolbox started by the RobotLocomotion Group at the MIT Computer Science and Artificial IntelligenceLab (CSAIL). The development team has now grown significantly, with coredevelopment led by the Toyota Research Institute. It is a collection oftools for analyzing the dynamics of our robots and building controlsystems for them, with a heavy emphasis on optimization-based design/analysis.https://drake.mit.edu/from_binary.html

Nightly Releases

Binary packages of Drake for Ubuntu 20.04 (Focal) and Mac are generated nightly and are available to download at:

• https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-focal.tar.gz
• https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac.tar.gz

Older packages for specific dates are available by replacing latest with an 8-digit date, e.g., 20200102 for January 2nd, 2020.

• https://drake-packages.csail.mit.edu/drake/nightly/drake-YYYYMMDD-focal.tar.gz
• https://drake-packages.csail.mit.edu/drake/nightly/drake-YYYYMMDD-mac.tar.gz

Individual packages are archived two years from their date of creation.

The installation instructions are identical to stable releases as shown above.

如：

https://drake-packages.csail.mit.edu/drake/nightly/drake-20201215-bionic.tar.gz

后面看到有源码编译安装，未尝试，链接放这里：

DRAKE安装过程_DoYourThings的博客-CSDN博客

由于drake版本升级比较快

课程对应的版本更新较快

那么youtube上课程对应的drake版本为：

https://drake-packages.csail.mit.edu/drake/nightly/drake-20201215-bionic.tar.gz

对应的测试代码版本对应为：

underactuated-0e0ecc5c032ced0261f716e4a7930fc86bf0f80a

测试