roman-aguilera/sgillen_research

Various bits of software that I use for my research into the control of underactuated dynamical systems.

Notebooks

This is a collection of various pieces of software I use for research.

Various libraries I use (that you will need to install)

Mujoco/Mujoco py

http://www.mujoco.org https://github.com/openai/mujoco-py (also has instructions on how to install mujoco)

Note you need a liscense to use mujoco, but a free one can be obtained without too much pain. either get a no questions asked 30 day trial or a free one year renewable one. If you publish with it you will need to pay up though!

Open AI baselines

https://github.com/openai/baselines

Note: Make sure you install from the github and not the version that you can obtain by default using pip

Lots of others that can be installed with pip

Just use pip -r install requirements.txt

Drake

I'm not actively using drake, but if you want to run/use some of my earlier examples then you will need to install drake too

(http://drake.mit.edu). As well as the code/notes here (https://github.com/RussTedrake/underactuated). Both will need to be added to your python path, it should look something like

export PYTHONPATH=path_to_drake/lib/python2.7/site-packages:path_to_underactuated/underactuated/src/:${PYTHONPATH}