Trajectory Optimization Python Packages

dymos

Open Source Optimization of Dynamic Multidisciplinary Systems

crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

libcrocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

asset-asrl

High-speed, extensible, object-oriented trajectory design and optimization

pycddp

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

pyoptas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

mpopt

A pseudo-spectral collocation based multi-phase Optimal control problem solver

lqrax

JAX-enabled continuous-time Riccati equation solver

ivy-robot

Functions and classes for gradient-based robot motion planning, written in Ivy.

ltv-mpc

Model predictive control in Python based on quadratic programming

invariants-py

Calculate invariant trajectory representations from trajectory data and generate new trajectories from the invariants.

qpmpc

Model predictive control in Python based on quadratic programming