THE GTDYNAMICS PROJECT
Robot estimation and planning
with factor graphs
GTDynamics represents articulated kinematics, dynamics, and trajectory objectives as factor graphs. These apps expose their variables, constraints, and recorded optimization results.
Built on GTSAM, GTDynamics brings together robot models, physical constraints, and trajectory optimization in a C++ library with Python bindings.
Explore the appsTRAJECTORY FACTOR GRAPHq · T · V
THE INTERACTIVE COLLECTION
Estimation and planning examples
The apps progress from contact inference
through trajectory estimation to motion planning.
01 / MODEL
Robot model
The robot model defines links, joints, geometry, inertia, and applied forces.
02 / CONNECT
Factors and constraints
Factors express kinematic relationships and dynamics constraints between robot states.
03 / OPTIMIZE
Trajectory optimization
Optimization combines these constraints with objectives to solve dynamics and trajectory problems.