robot-juggler

Robotic juggling in pydrake.

Usage

python3 juggler.py

Dependencies

Drake dependencies

1. Install Drake for python
2. Install Drake manipulation package (outside this repo), and follow the local setup steps for manipulation (already did Drake!) in drake.html:

   git clone --recursive git@github.com:RussTedrake/manipulation.git
   

(Optional) Jupyter notebooks

1. Install Jupyter Lab:

pip3 install jupyterlab

2. Install ipywidgets:

pip3 install ipywidgets

3. Install NodeJS (>= v10.0.0) for activating Widget Javascript:

   • On Ubuntu with apt-get:

   curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash -
   sudo apt-get install -y nodejs
   

   • On Mac with Homebrew:

   brew install nodejs
   

4. Enable Widget Javascript in Jupyter:

   jupyter labextension install @jupyter-widgets/jupyterlab-manager
   

Useful resources

High-level Drake concepts