├── .gitignore ├── README.md ├── __pycache__ └── cartpole_utils.cpython-312.pyc ├── cartpole ├── cartpole_bellman.py ├── cartpole_ocp.py ├── cartpole_pmp.py └── cartpole_utils.py ├── doc └── mpc_tutorial_auctus-3.pdf ├── environment.yml ├── experimental ├── cartpole_direct.py ├── direct_oc.py ├── kkt.py ├── pendulum_hjb_pde.py └── single_shooting.py ├── kuka ├── mpc_kuka_reaching.py ├── mpc_utils.py ├── ocp_kuka_reaching.py ├── ocp_utils.py └── pin_utils.py ├── mpc_tutorial.egg-info ├── PKG-INFO ├── SOURCES.txt ├── dependency_links.txt └── top_level.txt ├── notebooks ├── .ipynb_checkpoints │ ├── intro-checkpoint.ipynb │ ├── mpc_tutorial_part1-checkpoint.ipynb │ └── part1-checkpoint.ipynb ├── atlas.mp4 ├── eth.mp4 ├── intro.ipynb ├── part1.ipynb ├── part2.ipynb └── part3.ipynb ├── optimization ├── constrained.py ├── figures │ ├── lqr_visual.py │ ├── nonlinear.py │ ├── pendulum_lqr.py │ ├── qp2d.py │ ├── qp3d.py │ ├── scalar_example.py │ ├── sparse.py │ ├── sparse2.py │ ├── sqp_cstr.py │ 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