DuaneNielsen

mujoco in ~/.mujoco/mujoco200 (may need to rename)
ln -s ~/.mujoco/mujoco200 ~/.mujoco/mujoco200_linux
mujuco key in ~/.mujoco/mjkey.txt
sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3
sudo apt-get install libglew-dev
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/duane/.mujoco/mujoco200/bin
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so

DuaneNielsen

# If you change this file, run 'update-grub' afterwards to update                                                                      
# /boot/grub/grub.cfg.                                                                                                                 
# For full documentation of the options in this file, see:                                                                             
#   info -f grub -n 'Simple configuration'                                                                                             
                                                                                                                                       
GRUB_DEFAULT=saved                                                                                                                     
GRUB_SAVEDEFAULT=true                                                                                                                  
GRUB_TIMEOUT_STYLE=menu                                                 

DuaneNielsen

# open the <env_name>/bin/activate
# add the below lines to the bottom
#

# CUDA 11.0                                                                                                                                                              
LD_LIBRARY_PATH="/usr/local/cuda-11.0/lib64"                                                                                                                             
export LD_LIBRARY_PATH                                                                                                                                                   
                                                                                                                                                                         
PATH="/usr/local/cuda-11.0/bin:$PATH"
export PATH

DuaneNielsen

import pygame, sys
from pygame.locals import *
import numpy as np
from math import radians, degrees
from numpy import cos, sin
from numpy.linalg import inv
from collections import OrderedDict

# Set up pygame
pygame.init()

DuaneNielsen

from matplotlib import pyplot as plt

#rows, columns
layout = (2, 1)


fig = plt.figure(figsize=(12, 12), dpi=80)
fig.canvas.set_window_title(title='matplotlib object oriented demo')

positions = fig.add_subplot(*layout, 1, )

DuaneNielsen

import torch
from matplotlib import pyplot as plt


def cross_matrix(axis):
    """
    Returns the skew symetric matrix given a vector omega
    :param omega: 3D axis of rotation
    :return: skew symmetric matrix for axis

DuaneNielsen

//
// Created by duane on 10/2/20.
//

#include <torch/torch.h>

int main(int arg, char *argv[]){

    auto x = torch::randn(3, torch::requires_grad());
    auto z = torch::randn(3, torch::requires_grad());

DuaneNielsen

cmake_minimum_required(VERSION 3.5)
project(ros2_cpp_pkg)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)

DuaneNielsen

from vpython import sphere, vector, rate, color, arrow, canvas, cross, triangle, vertex
from math import sqrt


G = 6.67e-11  # N kg^-2 m^2
au = 1.495978707e11
day = 60 * 60 * 24
year = day * 365.25

earth_mass = 5.972e24  # kg

DuaneNielsen

import glfw
from OpenGL.GL import *
from OpenGL.GL.shaders import compileProgram, compileShader
import numpy as np
import pyrr


def init_window(width, height, title="My OpenGL window"):
    # initializing glfw library
    if not glfw.init():