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optimization_dynamics

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

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# Trajectory Optimization with Optimization-Based Dynamics

This repository contains the implementation and examples from our paper: [Trajectory Optimization with Optimization-Based Dynamics](https://arxiv.org/abs/2109.04928).

## Installation
From the Julia REPL, type `]` to enter the Pkg REPL mode and run:
```julia
pkg> add https://github.com/thowell/optimization_dynamics
```
This will install the package.

Run 
```julia 
(OptimizationDynamics) pkg> build
```
to build the package.

[Notebooks](examples) are generated upon installation and can be run for the following examples:

## planar push
<img src="animations/planar_push_rotate.gif" alt="drawing" width="400"/>

## acrobot with joint limits
<img src="animations/acrobot_joint_limits.gif" alt="drawing" width="400"/>

## cart-pole with joint friction
<img src="animations/cartpole_friction_35.gif" alt="drawing" width="400"/>

## hopper gait
<img src="animations/hopper_gait_1.gif" alt="drawing" width="400"/>

## rocket with thrust limits
<img src="animations/starship_bellyflop_landing.gif" alt="drawing" width="400"/>

Additional comparisons with [MuJoCo](examples/comparisons/acrobot) and [contact-implicit trajectory optimization](examples/comparisons/hopper.jl) are available. 
The path-following solver and hopper model can be found in [RoboDojo.jl](https://github.com/thowell/RoboDojo.jl).

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