https://github.com/roboticexplorationlab/robotzoo.jl
https://github.com/roboticexplorationlab/robotzoo.jl
Last synced: 4 months ago
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- Host: GitHub
- URL: https://github.com/roboticexplorationlab/robotzoo.jl
- Owner: RoboticExplorationLab
- License: mit
- Created: 2020-03-08T00:54:33.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2024-03-21T18:45:32.000Z (about 2 years ago)
- Last Synced: 2025-10-12T07:08:52.809Z (8 months ago)
- Language: Julia
- Size: 2 MB
- Stars: 26
- Watchers: 2
- Forks: 11
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
[](https://codecov.io/gh/RoboticExplorationLab/RobotZoo.jl)
# RobotZoo.jl
Provides a handful of dynamics models of common robotic platforms, implemented using the
[`RobotDynamics.jl`](https://github.com/RoboticExplorationLab/RobotDynamics.jl) package.
The following models are currently implemented:
* Acrobot (`Acrobot`)
* Dubins Car (unicycle model) (`DubinsCar`)
* Kinematic Bicycle car model (`BicycleModel`)
* Cartpole (`Cartpole`)
* Double Integrator (`DoubleIntegrator`)
* Pendulum (`Pendulum`)
* Quadrotor (`Quadrotor`)
* Airplane (`YakPlane`)
* Satellite (`Satellite`)
Most models can be constructed using their default constructor, e.g. `model = RobotZoo.Cartpole()`.
To get more information on each model, refer to the documentation for each type, accessible via the command line:
```julia
?RobotZoo.Quadrotor
```
## Example Usage
```julia
using RobotZoo
import RobotDynamics as RD
model = RobotZoo.Cartpole()
n,m = RD.dims(model)
# Generate random state and control vector
x,u = rand(model)
t = 0.0 # time (s)
dt = 0.1 # time step (s)
z = RD.KnotPoint(x,u,t,dt)
# Evaluate the continuous dynamics and Jacobian
ẋ = dynamics(model, x, u)
∇f = zeros(n, n + m)
RD.jacobian!(RD.StaticReturn(), RD.ForwardAD(), model, ∇f, ẋ, model, z)
# Evaluate the discrete dynamics and Jacobian
dmodel = RD.DiscretizedDynamics{RD.RK4}(model)
x′ = RD.discrete_dynamics(dmodel, model, x, u, t, dt)
RD.discrete_jacobian!(RD.StaticReturn(), RD.ForwardAD(), dmodel, ∇f, x′, z)
```