Tutorials
A progressive learning path showcasing Rumoca's features, from your first Modelica model to model predictive control for a drone. Each tutorial builds on the last, and they all run in your browser via WebAssembly.
Write Modelica, compile, simulate, and plot — the full workflow from the start.
Your First Model
The simplest second-order ODE. Constant acceleration.
Mass-Spring-Damper
Linear second-order ODE. Compare compilation backends.
Bouncing Ball
Event handling with when clauses.
Van der Pol Oscillator
Limit cycles and solver settings.
Series RLC Circuit
Underdamped oscillation. Parameter exploration.
Circuit Components
Component-based Modelica with connectors and inheritance.
Bring your models to life with interactive Three.js scenes.
Take a Modelica model into a downstream Python ecosystem — gradient-based fitting, symbolic analysis, optimization, or on-manifold estimation — via the code Rumoca generates. Each tutorial embeds a Jupyter notebook you can open in Google Colab.
Parameter Identification with JAX
Fit physical parameters by gradient descent through a differentiable rollout.
Symbolic Linearization with SymPy
Differentiate the model algebraically to closed-form A, B.
Nonlinear MPC with CasADi
Direct-transcription MPC solved with IPOPT, flown through an aggressive fixed-wing maneuver.
On-Manifold EKF with SymForce
IMU + GPS attitude estimator built on SO(3) rather than Euler angles.