├── .gitignore ├── LICENSE ├── Project.toml ├── README.md ├── animations ├── acrobot_joint_limits.gif ├── acrobot_no_joint_limits.gif ├── cartpole_friction_01.gif ├── cartpole_friction_1.gif ├── cartpole_friction_25.gif ├── cartpole_friction_35.gif ├── hopper_gait_1.gif ├── hopper_gait_2.gif ├── hopper_gait_3.gif ├── planar_push_rotate.gif ├── planar_push_translate.gif └── starship_bellyflop_landing.gif ├── deps ├── .gitignore └── build.jl ├── examples ├── .gitignore ├── Manifest.toml ├── Project.toml ├── README.md ├── acrobot.jl ├── cartpole.jl ├── comparisons │ ├── acrobot │ │ ├── Project.toml │ │ ├── acrobot.jl │ │ ├── acrobot.xml │ │ ├── acrobot_limits.xml │ │ └── mujoco_model.jl │ └── hopper.jl ├── generate_notebooks.jl ├── hopper.jl ├── planar_push.jl └── rocket.jl └── src ├── OptimizationDynamics.jl ├── dynamics.jl ├── gradient_bundle.jl ├── ls.jl └── models ├── acrobot ├── codegen.jl ├── model.jl ├── simulator_impact.jl ├── simulator_nominal.jl └── visuals.jl ├── cartpole ├── codegen.jl ├── model.jl ├── simulator_friction.jl ├── simulator_frictionless.jl └── visuals.jl ├── planar_push ├── codegen.jl ├── model.jl ├── simulator.jl └── visuals.jl ├── rocket ├── codegen.jl ├── dynamics.jl ├── model.jl ├── simulator.jl └── visuals.jl └── visualize.jl /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thowell/optimization_dynamics/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thowell/optimization_dynamics/HEAD/LICENSE -------------------------------------------------------------------------------- /Project.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thowell/optimization_dynamics/HEAD/Project.toml 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