optimization_dynamics
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Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928
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.