https://github.com/rdeits/juggling

https://github.com/rdeits/juggling

Last synced: 2 days ago
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• Host: GitHub
• URL: https://github.com/rdeits/juggling
• Owner: rdeits
• Created: 2014-11-17T22:26:48.000Z (almost 10 years ago)
• Default Branch: master
• Last Pushed: 2014-12-04T21:16:49.000Z (almost 10 years ago)
• Last Synced: 2024-10-12T14:53:19.948Z (about 1 month ago)
• Language: Matlab
• Size: 7.16 MB
• Stars: 1
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: Readme.md

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README

        
# Juggling as a Mixed-Integer Convex Program

This package solves for a periodic trajectory of a set of N balls juggled by M hands for K time steps as a mixed-integer linear program.

## Requirements

The package requires the free Drake toolbox  and the Gurobi solver, which is free only for academic use .

## Sample results

3 balls, 2 hands

```

runJuggling(3, 2, 7);

```



5 balls, 2 hands, an early solution which is highly non-optimal:

```

runJuggling(5, 2, 16);

```



For a more optimal result, see: .