David Russell's repositories
Dynamic_Interpolation_iLQR
Russell et al. ~ ICRA 2023 Paper: Adaptive approximation of dynamics gradients via interpolation to speed up trajectory optimisation
mujoco_models
Downloaded model for the franka emika panda arm
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.
cito
A Contact-Implicit Trajectory Optimization Package
cobot_pump_ros
ROS package for the cobot pump using the libfranka middleware
drake
Model-based design and verification for robotics.
drake_ddp
Differential Dynamic Programming and Iterative LQR in Drake
mujoco
Multi-Joint dynamics with Contact. A general purpose physics simulator.
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
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.github.io
Hosting website for TrajOptKP