dmackrus Goto Github PK

cito

A Contact-Implicit Trajectory Optimization Package

cobot_pump_ros

ROS package for the cobot pump using the libfranka middleware

dmackrus.github.io

drake

Model-based design and verification for robotics.

drake_ddp

Differential Dynamic Programming and Iterative LQR in Drake

dynamic_interpolation_ilqr

Russell et al. ~ ICRA 2023 Paper: Adaptive approximation of dynamics gradients via interpolation to speed up trajectory optimisation

mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.

mujoco_models

A colleciton of MuJoCo models that I have downloaded / made small changes to for my own research purposes.

mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

mujoco_mpc_container

Singularity/Apptainer container for mujoco_mpc

mujoco_realrobot_ros

Codebase using ROS to acquire joijnt states and objects states from a real robot environment and format them into a MuJoCo data environemtn so that the MuJoCo simulator can be used to display the current state of a robot as well as perform optimisaiton.

mujocolib

Just reformatting the latest mujoco download so that the include files just refence their internal folder wiothout specifying mujoco directory first.

personal-jekyll-theme

Backend for my static site

runescape_ge_gui

Personal repository that will have a nice GUI to track the price changes of desired items automatically and give nice information to the user.

to_keypoints_gui

Testing dynamic interpolation methods for different tasks over the A and B matrices used in iLQR. Different tasks include, pendulum, reaching of a 7 DOF arm, and pushing a cylinder with a 7 DOF arm. Interpolation methods include, linear interpolation, quadratic interpolation, neural network interpolation and dynamic linear interpolation.

trajoptkp

Gradient-based trajectory optimisation toolbox that speeds up trajectory optimisation by only computing dynamics derivatives at key-points with finite-differencing. Remainder of derivatives are approximated via interpolation.

trajoptkp.github.io

Hosting website for TrajOptKP