  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 DAEs into a set of nonlinear equations by performing
orthogonal collocation on finite elements. PYROBOCOP provides automatic
reformulation of the complementarity constraints that are tractable to NLP
solvers to perform optimization of robotic systems. The package is interfaced
with ADOL-C[1] for obtaining sparse derivatives by automatic differentiation
and IPOPT[2] for performing optimization. We evaluate PYROBOCOP on several
manipulation problems for control and estimation.
