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Referenced from one of the comments here: https://github.com/OpenMDAO/dymos/issues/369
My recommendation would be to see if you can get the cited simplified example case in that issue to work. That particular case is unlikely to work with a Scipy optimizer - you'll need IPOPT (free except some optional components) or SNOPT (commercially available but potentially expensive). This script here should help in getting pyoptsparse (an OpenSource python interface to a variety of optimizers) up and running: https://github.com/OpenMDAO/build_pyoptsparse
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