Python Drake workspace

Configuration for Drake

Using the docker image

Build the docker images

docker build -t pydrake_focal .

Running the docker image and connect the Jupyter server

Forwarding the port 8888 for jupyter server connection, 7000 for rendering services, 6000 for ZeroMQ service.

docker run -it -p 8888:8888 -p 7000:7000 -p 6000:6000 pydrake_focal:latest

Removing all docker containers and images

docker rm $(docker ps -a -q) -f # remove containers
docker rmi $(docker images) -f # remove images
docker images

Reference

Rotics Manipulation

• Robotic Manipulation: Perception, Planning, and Control
• MIT 6.881 - Robotic Manipulation - Schedule

Underactuated Robotics

• Underactuated Robotics Text book
• Underactuated Robotics Spring 2021