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ToyotaResearchInstitute / idto

Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
MIT License
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Add Basic Python Bindings #19

Closed vincekurtz closed 1 year ago

vincekurtz commented 1 year ago

Adds some rudimentary python bindings for the main solver.

In the python version, TrajectoryOptimizer takes a urdf file rather than a Drake model. This allows us to avoid thinking about compatibility with pydrake.

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vincekurtz commented 1 year ago

This could definitely be improved, especially in terms of how the bindings are installed. But I'm going to go ahead merge this for now. We can make further refinements in subsequent PRs.