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Tutorials

Learn Amigo through a comprehensive tutorial that demonstrates trajectory optimization for a classic optimal control problem.

Cart Pole Swing-up​

The Cart Pole tutorial provides an in-depth introduction to trajectory optimization using Amigo. This comprehensive example covers:

  • Complete mathematical problem formulation
  • Nonlinear dynamics implementation
  • Discretization using trapezoidal collocation
  • Boundary condition specification
  • Direct transcription optimization
  • Results visualization and analysis

This tutorial demonstrates all essential concepts needed to solve optimal control problems with Amigo, from problem definition through to solution analysis.

Running the Example​

The complete code is available in the examples directory:

cd amigo/examples/cart
python cart_pole.py --build

Start with the Cart Pole tutorial to learn trajectory optimization with Amigo.