[SOLVED] Issues while running tutorials of Drake programs, in Underactuated Robotics document, in Deepnote?

Issues while running tutorials of Drake programs, in Underactuated Robotics document, in Deepnote?

I am trying to build and simulate a pendulum in drake. I have created a urdf file(still don't know how to add the inertia tags) and am trying to simulate it, but I don't know how to? So, I was looking at the simple pendulum tutorial in https://underactuated.mit.edu/pend.html. But when I tried to run this on deepnote I get the following error.

ModuleNotFoundError: No module named 'underactuated'
---------------------------------------------------------------------------
ModuleNotFoundError                       Traceback (most recent call last)
<ipython-input-20-e0ee1253693a> in <module>
     24                                        PendulumPlant)
     25 
---> 26 from underactuated import plot_2d_phase_portrait, running_as_notebook
     27 from underactuated.meshcat_cpp_utils import MeshcatSliders, interact
     28 

ModuleNotFoundError: No module named 'underactuated'

How am I supposed to resolve this issue? Also, if you can recommend some resources that help me easily buid urdf files that would be really helpful.

Thank you.

Solution

The Deepnote notebooks for the course use a docker instance which is provisioned with pydrake and underactuated. You can duplicate one of our notebooks, or add the docker instance in the deepnote configuration yourself. http://underactuated.csail.mit.edu/drake.html#notebooks

We have another tutorial that will be polished and available soon in Drake for constructing the urdfs. You can preview it here: https://deepnote.com/project/Authoring-a-Multibody-Simulation-jnoKyVLkS5CYUgHG3ASsBA/%2Fauthor_multibody_sim.ipynb (but know that it should be considered a draft).