Drake Demonstration

Step 1, get WSL2.

Type winkey (the Windows key between Ctrl and Alt), type Turn Windows Features on or off and open, tick Windows subsystem for Linux.
Install Ubuntu 20.04 version from Microsoft Store.
Retart and configure your Ubuntu (wsl).
Check out “VMMEM 100% CPU Usage Issue” to avoid burning down you PC by disabling the GUI feature.

4.1. winkey+R, type in %USERPROFILE% 4.2. create a new file named .wslconfig with content [wsl2] guiApplications=false 4.3. restart wsl by opening a cmd.exe with admin privilege running command wsl --shutdown see https://x410.dev/cookbook/wsl/disabling-wslg-or-using-it-together-with-x410/

Step 2, get VS Code.

In VS Code, install the extension named “WSL”. It allows you to work with a terminal as if you are on an Ubuntu machine.

Step 3, install pydrake.

https://drake.mit.edu/pydrake/pydrake.tutorials.html https://drake.mit.edu/python_bindings.html#using-the-python-bindings

The official steps are:

ON WSL2 Ubuntu 20.04

sudo apt-get update
sudo apt install python3-pip
sudo apt install python3.8-venv

# this will create a folder named "./main2" in the current directory "."
python3 -m venv main2

main2/bin/pip install drake
main2/bin/pip install notebook
main2/python3 -m pydrake.tutorials
http://localhost:7000/
# open authoring_multibody_simulation.ipynb

BUT somehow I cannot enable my python3 venv encironment in wsl2. Instead, I run pydrake without setting an virtual environment.

Step 4, model simple system in drake.

see https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/notebook/dynamical_systems-a0c7b0f1313b47f78fa25ea83ea616ce?

Step 5, https://github.com/RussTedrake/underactuated

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

to run, e.g., ipynb in folder ./dp, you need to fix the dependency issue by adding following snippets

import sys; sys.path.insert(0, '/home/hory/codes/underactuated')
import sys; sys.path.append('../')
import sys, os; sys.path.append(os.path.dirname(os.path.abspath(__file__)))

pip3 install mpld3 packaging