Class project for Applied Optimal Control (w' 23). Code is closely based on code from DiffTaichi and PlasticineLab, but rewritten in PyTorch and choosing components from each for our new task (deformable object shaping by kinematic control of a rigid body).
Requires torch 2.0, tqdm, and mmint_utils.
Then run pip install -e . from the root directory.
To run an example trajectory optimization loop, run the following:
python scripts/diffmpm_torch_batch.py