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AppleCart

Installation

Install drake Install poetry Download the underactuated robotics companion code

poetry install

Add two files to the virtual env that poetry made to tell it about the path to the drake and underactuated python modules.

echo $DRAKE_INSTALL/lib/python3.9/site-packages $VENV/lib/python3.9/site-packages/drake.pth
echo $UNDERACTUATED_REPO $VENV/lib/python3.9/site-packages/underactuated.pth

Where DRAKE_INSTALL is the directory where drake is installed, UNDERACTUATED_REPO is the directory of the underactuated repo, and VENV is the location of the virtual environment poetry made.

Running

From the command line

poetry run python triple_cart_pole.py

or

poetry shell
python triple_cart_pole.py

From VS Code

Open triple_cart_pole.py click run, and select the virtual environment poetry created for this project as the interpreter.