├── .gitignore ├── App-C-Optimization-and-Mathematical-Programming-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── optimization.ipynb ├── Attractivity-vs-Stability-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── attractivity_vs_stability.ipynb ├── Cart-Pole-Double-Pendulum-and-URDF-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── double_cartpole_urdf.ipynb └── results.json ├── Cart-Pole-Linearization-and-Balancing-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── cartpole_balancing.ipynb └── results.json ├── Ch-1-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-1-Fully-actuated-vs-Underactuated-Systems-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── intro.ipynb ├── Ch-10-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-10-Trajectory-Optimization-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── trajopt.ipynb ├── Ch-11-Policy-Search-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── policy_search.ipynb ├── Ch-12-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-16-Algorithms-for-Limit-Cycles-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── limit_cycles.ipynb ├── Ch-17-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-17-Planning-and-Control-through-Contact-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── contact.ipynb ├── Ch-18-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-18-System-Identification-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── sysid.ipynb ├── Ch-2-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-2-The-Simple-Pendulum-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── pend.ipynb ├── Ch-3-Acrobots-Cart-Poles-and-Quadrotors-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── acrobot.ipynb ├── Ch-3-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-4-Simple-Models-of-Walking-and-Running-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── simple_legs.ipynb ├── Ch-5-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-6-Model-Systems-with-Stochasticity-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── stochastic.ipynb ├── Ch-7-Dynamic-Programming-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── dp.ipynb ├── Ch-7-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-8-Linear-Quadratic-Regulators-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── lqr.ipynb ├── Ch-9-Exercises ├── Init notebook.ipynb └── Notebook 1.ipynb ├── Ch-9-Lyapunov-Analysis-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── lyapunov.ipynb ├── Compass-Gait-Limit-Cycle-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── compass_gait_limit_cycle.ipynb └── results.json ├── Continuous-Fitted-Value-Iteration-for-Pendulum-Swingup-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── pendulum_cvi.ipynb └── results.json ├── Footstep-Planning-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── footstep_planning.ipynb ├── init.ipynb └── results.json ├── Hopfield-Networks-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── hopfield_network.ipynb ├── results.json └── test.png ├── Iterative-Linear-Quadratic-Regulator-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── ilqr_driving.ipynb └── results.json ├── LICENSE ├── Linear-Programming-for-Dynamic-Programming-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── lp_dp.ipynb └── results.json ├── Linear-System-Identification-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── linear_sysid.ipynb └── results.json ├── LittleDog-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── littledog.ipynb ├── Orbital-Transfer-via-Trajectory-Optimization-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── orbital_transfer.ipynb └── results.json ├── Pendulum-with-Vibrating-Base-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── results.json └── vibrating_pendulum.ipynb ├── Perching-Duplicate ├── Dockerfile ├── Init notebook.ipynb └── perching.ipynb ├── Pics ├── acrobot.gif ├── cartpole.gif ├── dog.gif ├── orbits.png ├── pendulum.gif ├── perching.gif ├── vehicle.png └── walk.gif ├── README.md ├── Rapidly-Exploring-Random-Tree-RRT-Planning-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── results.json └── rrt_planning.ipynb ├── System-Identification-for-the-Perching-Glider-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── glider_sysid.ipynb └── results.json ├── Tutorials-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── authoring_multibody_simulation.ipynb ├── debug_mathematical_program.ipynb ├── dynamical_systems.ipynb ├── index.ipynb ├── licensed_solvers_deepnote.ipynb ├── linear_program.ipynb ├── mathematical_program.ipynb ├── mathematical_program_multibody_plant.ipynb ├── multibody_plant_autodiff_mass.ipynb ├── nonlinear_program.ipynb ├── pyplot_animation_multibody_plant.ipynb ├── quadratic_program.ipynb ├── rendering_multibody_plant.ipynb ├── requirements.txt ├── solver_parameters.ipynb ├── sum_of_squares_optimization.ipynb ├── updating_costs_and_constraints.ipynb └── zzz_for_maintainers.ipynb ├── Value-Iteration-for-Minimum-Time-Control-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── minimum_time.ipynb └── results.json └── Van-der-Pol-ROA-Duplicate ├── Dockerfile ├── Init notebook.ipynb ├── results.json └── van_der_pol.ipynb /.gitignore: -------------------------------------------------------------------------------- 1 | core.* 2 | -------------------------------------------------------------------------------- /App-C-Optimization-and-Mathematical-Programming-Duplicate/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM russtedrake/underactuated:b879d3d -------------------------------------------------------------------------------- /App-C-Optimization-and-Mathematical-Programming-Duplicate/Init notebook.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xkhainguyen/underactuated/HEAD/App-C-Optimization-and-Mathematical-Programming-Duplicate/Init 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