drake環境搭建

drake是由mitcsail實驗室開發的c++ toolbox，整合了機械人動力學分析工具和控制系統搭建工具，特別是注重於基於優化的設計和分析。

drake不像很多的黑箱**工具，它注重於展示出那些機械人複雜動力學**中的方程。同時drake也提供了高階語言的介面（matlab，python，julia）。

drake支援的版本

ubuntu 版本

python版本

drake 版本

16.04

python2.7

xenial

18.04

python3.6

bionic

curl -o drake.tar.gz .tar.gz

比如，我的是18.04，安裝的版本就是下面的：

curl -o drake.tar.gz bionic.tar.gz

conda create -n py36 python=3.6

sudo apt install -y coinor-lib*-dev libnlopt-dev libyaml-cpp-dev libamd2 libtbb-dev

$ python3 -c 'import pydrake; print(pydrake.__file__)'

# 執行結果如下
~/programs/drake/lib/python3.6/site-packages/pydrake/__init__.py

from pydrake.common import findresourceorthrow

from pydrake.multibody.parsing import parser
from pydrake.multibody.plant import addmultibodyplantscenegraph
from pydrake.systems.analysis import simulator
from pydrake.systems.framework import diagrambuilder
builder = diagrambuilder(
)plant, _ = addmultibodyplantscenegraph(builder)
parser(plant)
.addmodelfromfile(
findresourceorthrow(
"drake/examples/pendulum/pendulum.urdf"))
plant.finalize(
)diagram = builder.build(
)simulator = simulator(diagram)

知道是環境問題，但是由於沒有指明，所以非常尷尬，然後準備編譯源**，提示差庫，然後安裝了下面這些，總算沒問題了。

sudo apt install libjpeg-dev libtiff-dev libtinyxml-dev libjsoncpp-dev liblz4-dev

traceback (most recent call last):

file "", line 1, in file "/home/hocker/disks/diska/programs/drake/lib/python3.6/site-packages/pydrake/__init__.py", line 29, in from . import common
file "/home/hocker/disks/diska/programs/drake/lib/python3.6/site-packages/pydrake/common/__init__.py", line 1, in from ._module_py import *
importerror: python version mismatch: module was compiled for python 3.6, but the interpreter version is incompatible: 3.7.3 (default, mar 27 2019, 22:11:17) 
[gcc 7.3.0].

traceback (most recent call last):

file "", line 1, in file "/home/hocker/disks/diska/programs/drake/lib/python3.6/site-packages/pydrake/__init__.py", line 29, in from . import common
file "/home/hocker/disks/diska/programs/drake/lib/python3.6/site-packages/pydrake/common/__init__.py", line 1, in from ._module_py import *
importerror: libamd.so.2: cannot open shared object file: no such file or directory

terminate called after throwing an instance of 'pybind11::error_already_set'

what(
):  systemerror:  returned a result with an error set
aborted (core dumped)

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