Pyomo is the toolbox that I will be using for my trajectory optimization simulations. Learn the ins and outs of the toolbox going over one of the post graduates (Stacey) helpful tutorial on GitHub. The tutorial was very helpful as it taught me the function of choosing a good NLS (Non-Linear Solver) as well as the fundamental pieces and parameters I will need for any trajectory optimization problem. It also showed 2 different ways of modelling the dynamics of my system. After speaking to Stacey personally It was clear to stay far away from system space coordinates when modelling and go with general coordinates and relative angles. The tutorials also gave neat and well commented sample code wherever stacey needed to show what she was explaining.
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