README.md

Direct Motion Planning

classic examples

• double integrator
• acrobot
• robotic arm
• biped

contact-implicit trajectory optimization examples

• particle
• simple manipulation
• cyberdrift
• cyberjump
• box drop
• box on corner
• raibert hopper
• raibert hopper vertical gait
• raibert hopper flip
• hopper (3D)
• hopper (3D) wall scaling
• miniature golf
• ball-in-cup robot arm
• ball-in-cup quadrotor
• biped
• quadruped
• atlas

direct policy optimization examples

LQR

• double integrator
• planar quadrotor

motion planning

• pendulum
• autonomous car
• cart-pole
• rocket
• quadrotor

TODO

• direct policy optimization implementation
• check for SNOPT installation
• parallelize objective + constraint evalutations
• tests
• embed animations in readme