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contact-implicit-trajectory-optimization

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YukiShirai / conpt

C++/python codes for contact-rich trajectory optimization.

cpp robotics eigen motion-planning gurobi manipulation bilevel-optimization trajectory-optimization optimal-control locomotion nonlinear-programming mixed-integer-programming model-predictive-control stochastic-optimization ipopt casadi complementarity-constraints risk-aware-planner contact-implicit-trajectory-optimization

Updated Apr 19, 2023
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