{"id":15138370,"url":"https://github.com/thowell/optimization_dynamics","last_synced_at":"2025-10-23T15:30:22.847Z","repository":{"id":107209095,"uuid":"420870516","full_name":"thowell/optimization_dynamics","owner":"thowell","description":"Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics 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Trajectory Optimization with Optimization-Based Dynamics \n\nThis repository contains the implementation and examples from our paper: [Trajectory Optimization with Optimization-Based Dynamics](https://arxiv.org/abs/2109.04928).\n\n## Installation\nFrom the Julia REPL, type `]` to enter the Pkg REPL mode and run:\n```julia\npkg\u003e add https://github.com/thowell/optimization_dynamics\n```\nThis will install the package.\n\nRun \n```julia \n(OptimizationDynamics) pkg\u003e build\n```\nto build the package.\n\n[Notebooks](examples) are generated upon installation and can be run for the following examples:\n\n## planar push\n\u003cimg src=\"animations/planar_push_rotate.gif\" alt=\"drawing\" width=\"400\"/\u003e \n\n## acrobot with joint limits\n\u003cimg src=\"animations/acrobot_joint_limits.gif\" alt=\"drawing\" width=\"400\"/\u003e\n\n## cart-pole with joint friction\n\u003cimg src=\"animations/cartpole_friction_35.gif\" alt=\"drawing\" width=\"400\"/\u003e\n\n## hopper gait\n\u003cimg src=\"animations/hopper_gait_1.gif\" alt=\"drawing\" width=\"400\"/\u003e\n\n## rocket with thrust limits\n\u003cimg src=\"animations/starship_bellyflop_landing.gif\" alt=\"drawing\" width=\"400\"/\u003e\n\nAdditional comparisons with [MuJoCo](examples/comparisons/acrobot) and [contact-implicit trajectory optimization](examples/comparisons/hopper.jl) are available. \nThe path-following solver and hopper model can be found in [RoboDojo.jl](https://github.com/thowell/RoboDojo.jl).\n\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fthowell%2Foptimization_dynamics","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fthowell%2Foptimization_dynamics","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fthowell%2Foptimization_dynamics/lists"}