/MIT_6_4212

Repo for the 6.4212 class at MIT

Primary LanguageJupyter Notebook

MIT 6.4212, Nikita's repo

This repo contains some stuff I used to paly with while taking 6.4212 at MIT. The stuff also includes the final project in directory project. Everythig here is based on the standard Ubuntu 22.04 .

Setting up this repo

Prerequisites

  1. Python3 with venv and pip
  2. Jupyter Notebook, nice instructions are here
  3. Drake, nice instructions are here
  4. some extra packages: mpld3, pyvirtualdisplay, Xvfb .

Install the repo and run it

  1. git clone it
  2. git submodule update --init --recursive to fetch submolude manipulation, i.e. the class repo (needed for examples and models).
  3. If working in venv, activate them with source env/bin/activate or whenever the env is on your machine
  4. For local runs, use jupyter-notebook --no-browser --port=8080
  5. For remote runs, we need to forward some jupyter-notebook and Drake SSH ports, I have a script for this: run_drake_ssh.sh. Note that no -X11 required for this to work -- Jupyter works just fine from the local browser when the right ports are forwareded. You might want to change iptables sometimes to allow the ports.

Run the project

To run the project, simply open the notebook, load the file project/Main.ipynb and enjoy it! If any of the cells throw a package error, simply install the package in your python venv.

The README.md inside the project folder contains more info and other things on the project itself.