PyTrajOpt (Python-based Trajectory Optimization) is a modern Python framework for solving complex optimal control problems (OCPs). Powered by CasADi for high-performance symbolic differentiation and Pydantic for strict runtime configuration validation, PyTrajOpt supports both single-phase and multiphase formulations via multiple shooting and direct collocation. It goes a step further by estimating state costates and performing rigorous feasibility checks to ensure the reliability of your generated solutions.
For more details about problems supported, installation, examples and api references refer to the docs.