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PYROBOCOP is a lightweight Python-based package for control and optimizationof robotic systems described by nonlinear Differential Algebraic Equations(DAEs). In particular, the package can handle systems with contacts that aredescribed by complementarity constraints and provides a general framework forspecifying obstacle avoidance constraints. The package performs directtranscription of the DAEs into a set of nonlinear equations by performingorthogonal collocation on finite elements. The resulting optimization problembelongs to the class of Mathematical Programs with Complementarity Constraints(MPCCs). MPCCs fail to satisfy commonly assumed constraint qualifications andrequire special handling of the complementarity constraints in order forNonLinear Program (NLP) solvers to solve them effectively. PYROBOCOP providesautomatic reformulation of the complementarity constraints that enables NLPsolvers to perform optimization of robotic systems. The package is interfacedwith ADOLC for obtaining sparse derivatives by automatic differentiation andIPOPT for performing optimization. We demonstrate the effectiveness of ourapproach in terms of speed and flexibility. We provide several numericalexamples for several robotic systems with collision avoidance as well ascontact constraints represented using complementarity constraints. We providecomparisons with other open source optimization packages like CasADi and Pyomo .

PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance