PyROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation
Arvind U. Raghunathan,Devesh K. Jha,Diego Romeres,Arvind U. Raghunathan,Devesh K. Jha,Diego Romeres
PyROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the package can handle systems with contacts that are described by complementarity constraints and provides a general framework for specifying obstacle avoidance constraints. The package performs direct transcription of the D...
