Homeworks

Assignments

Homework	Solutions	Topics	Due Date
Assignment 0	TBA	Julia Warm Up, Differentiation, Newton's Method	01/23/2025, 11:59 PM EST
Assignment 1	TBA	Integrators, Equality and Inequality Constrained Optimization	02/6/2025, 11:59 PM EST

Submission Instructions

Submit all HWs as PDFs of your completed Jupyter Notebooks in Gradescope. Please review all the checklist items and instructions below:

Checklist

Before you submit your completed homework PDF, remember to complete all the checklist items below:

Make sure text and code, including special characters, are completely legible.
Make sure code is completely visible (i.e., no cropped lines). If we can't see it, then we can't grade it... Look at section below for details on how to remedy this.
Make sure plots and unit tests have been outputted and rendered properly. Meshcat visuals are exempt.
DO NOT ALTER UNIT TEST CASES. We check and can tell...
Assign questions to each respective page of your PDF in Gradescope# Homeworks

Assignments

Homework	Solutions	Topics	Due Date
Assignment 0	TBA	Julia Warm Up, Differentiation, Newton's Method	01/23/2025, 11:59 PM EST

Submission Instructions

Submit all HWs as PDFs of your completed Jupyter Notebooks in Gradescope. Please review all the checklist items and instructions below:

Checklist

Before you submit your completed homework PDF, remember to complete all the checklist items below:

Make sure text and code, including special characters, are completely legible.
Make sure code is completely visible (i.e., no cropped lines). If we can't see it, then we can't grade it... Look at section below for details on how to remedy this.
Make sure plots and unit tests have been outputted and rendered properly. Meshcat visuals are exempt.
DO NOT ALTER UNIT TEST CASES. We check and can tell...
Assign questions to each respective page of your PDF in Gradescope, including the text of the problem.

Fixing Cropped Code

If your code is cropped in the PDF, then there are multiple remedies for this:

Split line around binary operator (e.g., +):

L_grad = FD.gradient(f, x) +
                transpose(FD.jacobian(c, x))*λ

Split line around parenthesis:

L_grad = (FD.gradient(f, x)
                + transpose(FD.jacobian(c, x))*λ)

Split line after assignment operator (e.g., =):

L_grad = 
    FD.gradient(f, x) + transpose(FD.jacobian(c, x))*λ

Combine 1-3 to split into more lines:

L_grad = 
    FD.gradient(f, x) +
    transpose(FD.jacobian(c, x))*λ

Assign terms to more variables:

cost_grad = FD.gradient(f, x)
constraint_jac_T = transpose(FD.jacobian(c, x))

L_grad = cost_grad + constraint_jac_T*λ

Export to PDF

Feel free to use any method you'd like to export your Jupyter notebook as a PDF (with all checklist items completed).

We recommend the following method of converting your Jupyter notebook to a PDF because it requires no additional installs (hopefully). It's slightly involved, but it is the most consistent in our experience.

Open the Jupyter notebook in your favorite web browser (not VS Code) with IJulia.
Go through the submission checklist, and make sure all relevant items are completed.
In the top left corner of the Jupyter menu bar, do File -> Save and Export Notebook As -> HTML. It should download an HTML file.
Open the downloaded HTML file in your favorite web browser.
Open up the browser's print menu and select Save as PDF.
Save and combine PDFs.
Submit on Gradescope, and make sure to assign the right pages to all questions.

Others

If HTML to PDF does not work, feel free to try other methods: https://mljar.com/blog/jupyter-notebook-pdf/., including the text of the problem.