DMackRus

Apptainer_TrajOptKP

Simple Apptainer for TrajOptKP repository. Can be used to run TrajOptKP easily without needing to download packages manually. Also used for setting up GitHub actions.

cito

A Contact-Implicit Trajectory Optimization Package

cobot_pump_ros

ROS package for the cobot pump using the libfranka middleware

DMackRus

DMackRus.github.io

drake

Model-based design and verification for robotics.

Dynamic_Interpolation_iLQR

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

mujoco_models

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

OSRS-Flipping-Assistant

OSRS (Old School RuneScape) Flipping assistant GUI. Free tool to download that can keep track of item price changes and enable users to receive alerts when items hit certain price thresholds.

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.

DMackRus/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.

DMackRus/Dynamic_Interpolation_iLQR

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

DMackRus/mujoco_models

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

DMackRus/OSRS-Flipping-Assistant

OSRS (Old School RuneScape) Flipping assistant GUI. Free tool to download that can keep track of item price changes and enable users to receive alerts when items hit certain price thresholds.

DMackRus/Apptainer_TrajOptKP

Simple Apptainer for TrajOptKP repository. Can be used to run TrajOptKP easily without needing to download packages manually. Also used for setting up GitHub actions.

DMackRus/cito

A Contact-Implicit Trajectory Optimization Package

DMackRus/cobot_pump_ros

ROS package for the cobot pump using the libfranka middleware

DMackRus/DMackRus.github.io

DMackRus/drake

Model-based design and verification for robotics.

DMackRus/drake_ddp

Differential Dynamic Programming and Iterative LQR in Drake

DMackRus/mujoco

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

DMackRus/Learning_Github_Actions

This is a personal repository for mme to learn how to use Github actions for a C++ project. It is publicly availablemainly for the free server minutes for public repositories.

DMackRus/ML_Learning

Personal repository of learning the basics of some cutting edge foundational models, adapted from a variety of sources.

DMackRus/mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

DMackRus/mujoco_mpc_container

Singularity/Apptainer container for mujoco_mpc

DMackRus/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.

DMackRus/personal-jekyll-theme

Backend for my static site

DMackRus/RL_learning

Personal repositroy to learn some RL basics. Using gymnasium as well as custom MuJoCo environments.

DMackRus/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.

DMackRus/TrajOptKP.github.io

Hosting website for TrajOptKP