Underactuated Robotics

Algorithms for Walking, Running, Swimming, Flying, and Manipulation

http://underactuated.mit.edu/

Follow the installation instructions in http://underactuated.mit.edu/drake.html

To view the text locally

Make sure to initialize the submodules:

git submodule update --init --recursive

The textbook should then be viewable by opening underactuated.html in your browser.

There was a time when I used some ajax to include source code. If you see missing source code, you'll need to run a local webserver for the code includes to work. I used the instructions at https://websitebeaver.com/set-up-localhost-on-macos-high-sierra-apache-mysql-and-php-7-with-sslhttps and just pointed by root doc directory directly at my underactuated checkout.

To run the linters and unit tests

bazel test //...

If you would like to bazel to use a local installation of drake, you can set the DRAKE_INSTALL_DIR environment variable. Otherwise it will look in /opt/drake.

To get experimental Drake binaries

Please see the relevant Drake documentation .

Setting up PyCharm

In Settings > Python Interpreter, I set up a new "system interpreter". Then in the Python Interpreter window, in the dropdown, use "show all" to see the interpreters, then use "show paths for the selected interpreter" to add the path to your drake installation (e.g. /opt/drake/lib/python3.6/site-packages).

PyCharm will eat up all of your memory trying to index everything, if you don't also exclude the irrelevant directories from indexing (e.g. .binder, data, bazel-*, htmlbook/MathJax). Do this by right-clicking on the directory in the project view and selecting Mark directory as > Excluded.

I use selection and then Ctrl+alt+P for manual wrapping. I updated the HTML style to use 2 for tabs/indent/continuation, and added p to Other > Do not indent children of. I removed h1 from the "indent before", and unchecked "keep line breaks in text".

Additional information for Docker Hub users

Supported tags and respective Dockerfile links

• latest

Quick reference

• Where to file issues: GitHub Issues

• Maintained by: Russ Tedrake

• Source of this description: README.md (history)

License

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