Trajectory Optimization with Optimization-Based Dynamics

This repository contains the implementation and examples from our paper: Trajectory Optimization with Optimization-Based Dynamics.

Installation

From the Julia REPL, type ] to enter the Pkg REPL mode and run:

pkg> add https://github.com/thowell/optimization_dynamics

This will install the package.

Run

(OptimizationDynamics) pkg> build

to build the package.

Notebooks are generated upon installation and can be run for the following examples:

planar push

acrobot with joint limits

cart-pole with joint friction

hopper gait

rocket with thrust limits

Additional comparisons with MuJoCo and contact-implicit trajectory optimization are available. The path-following solver and hopper model can be found in RoboDojo.jl.