Eric Chen (ericrc@mit.edu) and Isaac Perper (iperper@mit.edu)
Trajectory optimization on a simple autonomous boat for MIT's Underactuated Robotics class (6.832). Spring 2020 Final Project - watch the video here, and read the full report here!
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Make sure you're running python 3.8 (required for PyDrake install)
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PyDrake: Instructions
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Make sure to add Drake to your python path
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Install dependencies listed in requirements.txt
All settings for your simulation can be modified in settings.py.
cd src/
python3 sim.py
Plots and videos are saved in src/results