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Underactuated pendulum on a cart to play with direct optimal control methods
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cartpole
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README.md

CartPole

"Underactuated pendulum on a cart to play with direct optimal control methods."

Requires NumPy, SciPy, cyipopt, and IPOPT to run computational back-end.

Visualization can use either MatPlotLib or Mayavi.

Enjoy!

https://imgur.com/a/9QWn3

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