Discover thowell/symbolics_double_pendulum Open Source project

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Created over 3 years ago
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thowell

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a short tutorial on using the Julia package Symbolics.jl to generate equations of motion from a Lagrangian

motion_planning

Algorithm and model experiments for robot motion planning. Implemented in Julia.

Julia

CALIPSO.jl

Conic Augmented Lagrangian Interior-Point SOlver

Julia

optimization_dynamics

Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928

Julia

IterativeLQR.jl

A Julia package for constrained iterative LQR (iLQR)

Julia

RoboDojo.jl

A differentiable simulator for robotic systems.

Julia

DirectTrajectoryOptimization.jl

A Julia package for constrained trajectory optimization using direct methods.

Julia

ContactImplicitMPC.jl

Fast contact-implicit model-predictive control for robotic systems that make and break contact with their environments.

Julia

thesis

Stanford PhD Thesis

TeX

ppo.cpp

Proximal Policy Optimization (PPO) written in C++ with PyTorch (LibTorch)

C++

A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).

Python

rs.cpp

A multi-threaded C++ implementation of random search for locomotion tasks using MuJoCo.

C++

achtung

Jupyter Notebook

non-convex_solver

Julia

simple_trajectory_optimization

Examples showing how to set up trajectory optimization problems.

Julia

DIRTREL.jl

A tool for robust motion planning. Implemented in Julia.

Julia

Curriculum Vitae

TeX

helmholtzcoils

Control Helmholtz coils to generate stationary and rotating uniform magnetic fields in any direction

Jupyter Notebook

thowell/symbolics_double_pendulum

thowell

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