{"id":16722972,"url":"https://github.com/tkoolen/julia-robotics-paper-code","last_synced_at":"2025-07-29T06:04:37.952Z","repository":{"id":45172681,"uuid":"148845286","full_name":"tkoolen/julia-robotics-paper-code","owner":"tkoolen","description":"Code associated with the paper \"Julia for Robotics: Simulation and Real-time Control in a High-level Programming Language\"","archived":false,"fork":false,"pushed_at":"2019-05-22T19:47:54.000Z","size":5420,"stargazers_count":43,"open_issues_count":0,"forks_count":4,"subscribers_count":5,"default_branch":"master","last_synced_at":"2025-04-04T00:41:42.767Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Jupyter 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Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"## Julia for Robotics: Simulation and Real-time Control in a High-level Programming Language\n\nThis repository contains code associated with the paper \"Julia for Robotics: Simulation and Real-time Control in a High-level Programming Language\", submitted to ICRA 2019.\n\n### Video\n\nThe video associated with the paper can be found [here](https://player.vimeo.com/video/320647370).\n\n### Packages\n\nMain packages discussed in the paper:\n\n* [RigidBodyDynamics.jl](https://github.com/JuliaRobotics/RigidBodyDynamics.jl): rigid body dynamics library.\n* [MeshCat.jl](https://github.com/rdeits/MeshCat.jl): 3D visualizer.\n* [RigidBodySim.jl](https://github.com/JuliaRobotics/RigidBodySim.jl): a simulation environment.\n* [Parametron.jl](https://github.com/tkoolen/Parametron.jl): optimization framework.\n* [QPControl.jl](https://github.com/tkoolen/QPControl.jl): QP-based low-level control algorithms.\n\nAdditional relevant packages:\n\n* [StrandBeestRobot.jl](https://github.com/rdeits/StrandbeestRobot.jl): simulation of a strandbeest-like mechanism, used to create Fig. 3.\n* [LCMCore.jl](https://github.com/JuliaRobotics/LCMCore.jl): bindings to the LCM (Lightweight Communications and Marshalling) message passing library.\n* [QPWalkingControl.jl](https://github.com/tkoolen/QPWalkingControl.jl): a walking controller for Atlas based on QPControl.jl (under development).\n\n### Setup\n\nTo run benchmarks and notebooks locally, simply clone the package and follow the instructions below.\n\n### Benchmarks\n\n* [benchmarks/dynamics](https://github.com/tkoolen/julia-robotics-paper-code/tree/master/benchmarks/dynamics): code used to benchmark RigidBodyDynamics.jl and RBDL (Table I).\n* [benchmarks/controller](https://github.com/tkoolen/julia-robotics-paper-code/tree/master/benchmarks/controller): controller benchmark code (used to create Fig. 6).\n\nPlease see the associated `README.md` for information on how to run these benchmarks.\n\nThe figure below shows an additional quick benchmark result for the standing controller that does *not* include network communication using LCMCore.jl, as opposed to the figure in the paper. There is one sample at 1.67 ms.\n\n![dtbenchmarks](https://raw.githubusercontent.com/tkoolen/QPControl.jl/tk/bench/notebooks/controller_dt_histogram.png)\n\n### Notebooks\n\nThe [`notebooks`](https://github.com/tkoolen/julia-robotics-paper-code/tree/master/notebooks) directory contains the Jupyter notebook used to generate Fig. 4.\n\nMost of the packages listed above also have a `notebooks` directory with usage examples.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftkoolen%2Fjulia-robotics-paper-code","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftkoolen%2Fjulia-robotics-paper-code","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftkoolen%2Fjulia-robotics-paper-code/lists"}