Examples¶

Abstract¶

Small problems that highlight APIs: STL, impulsive dynamics, and toy costs.

Brachistochrone — Brachistochrone problem: finding the fastest descent path.
Hypersensitive — Runnable script; full source on the detail page.
Impulsive — Impulsive control example with mixed continuous/impulsive inputs.
Stl Integer Variable — Simple example using ox.stl.IntegerVariable to enforce discrete-valued states.
Stl Or — Very simple example using the GMSR-based STL Or operator (ox.stl.Or).

Animation-oriented variants of arm, drone, and obstacle demos.

7 Dof Arm — Cinematic offline render of the 7-DOF arm pick-and-place example.
Dr Vp Polytope — Cinematic offline render of the drone-racing-with-polytope-viewplanning example.
Franka Fr3v2 Pick Place — Cinematic offline render of the Franka FR3 v2 pick-and-place example.
Logo — Cinematic offline render of the ACL-logo-tracing drone example.
Obstacle Avoidance Vmap — Cinematic offline render of the vmap obstacle-avoidance example.

Manipulator motion, pick-and-place, viewpoint planning, and collisions.

3 Dof Arm — 3-link robotic arm with Product of Exponentials forward kinematics.
7 Dof Arm — 7-DOF redundant arm pick-and-place with Product of Exponentials FK.
7 Dof Arm Collision — 7-DOF redundant arm pick-and-place with Product of Exponentials FK.
7 Dof Arm Vp — 7-DOF redundant arm with viewcone (wrist camera) constraints.
Franka Fr3v2 Pick Place — Franka FR3 v2 pick-and-place with Product of Exponentials FK.
Franka Fr3v2 Viewplanning — Franka FR3 v2 view planning — wrist camera viewcone + PoE FK.

Dubins and car-like models with obstacles, waypoints, and STL logic.

Dubins Car — Dubins car path planning with obstacle avoidance.
Dubins Car Disjoint — Dubins car with disjoint waypoint visiting constraints.
Dubins Car Obstacle Conditional — Dubins car path planning with conditional velocity constraint using Cond operator.
Dubins Car Obstacle Stl — Dubins car path planning with conditional velocity constraint using Cond operator.
Dubins Car Stl Or — Dubins car with Signal Temporal Logic (STL) constraints using stljax.
Dubins Car Waypoint Stl — Dubins car path planning with STL waypoint inside a 2-norm ball.

Racing, obstacle avoidance, viewpoint constraints, and related utilities.

Cinema Vp — Cinematic viewpoint planning for aerial filming.
Dr Double Integrator — Simplified drone racing using double integrator dynamics.
Dr Vp — Drone racing with continuous viewpoint constraints.
Dr Vp Nodal — Drone racing with nodal viewpoint constraints.
Dr Vp Polytope — Drone racing with continuous viewpoint constraints using polytope target arrangement.
Drone Racing — 6-DOF quadrotor racing through sequential gates.
Logo — 6-DOF quadrotor tracing out the Autonomous Controls Laboratory Logo
Svg Path Utils — Runnable script; full source on the detail page.
Obstacle Avoidance — 6-DOF quadrotor obstacle avoidance with ellipsoidal obstacles.
Obstacle Avoidance Nodal — 6-DOF quadrotor obstacle avoidance with nodal constraints.
Obstacle Avoidance Vmap — Double integrator obstacle avoidance with Vmap for parallel constraint evaluation.

MuJoCo MJX dynamics: cartpole, multi-body, and skydio-style models.

Cartpole Mjx — Cartpole swing-up using MuJoCo MJX dynamics.
Double Cartpole Mjx — Double-link cartpole swing-up using MuJoCo MJX dynamics.
Skydio X2 Mjx — Skydio X2 quadrotor racing through sequential gates with MuJoCo MJX dynamics.
Triple Cartpole 3d Mjx — 3D triple-link cartpole swing-up using MuJoCo MJX dynamics.
Triple Cartpole Game — Triple-cartpole balancing game.
Triple Cartpole Mjx — Triple-link cartpole swing-up using MuJoCo MJX dynamics.

Discrete-time MPC-style and realtime-style double integrator setups.

Double Integrator Discrete — MPCC example: 3D double integrator tracking a circular reference trajectory (discrete).
Double Integrator Drone Racing — MPCC drone racing: 3D double integrator with time-optimal reference trajectory.
Dubins Car Circle Analytical — MPCC example: Dubins car tracking a circular reference trajectory.
Dubins Car Circle Discrete — MPCC example: Dubins car tracking a circular reference trajectory (discrete).
Realtime Double Integrator Drone Racing — Realtime MPCC drone racing: 3D double integrator with live visualization.

Receding-horizon and streaming demos built on shared base problems.

3DoF Pdg Realtime — Interactive real-time visualization for 3-DOF powered descent guidance.
6DoF Pdg Realtime — Interactive real-time visualization for 6-DoF powered descent guidance.
3DoF Pdg Realtime Base — 3-DOF Powered Descent Guidance (PDG) for planetary landing.
6DoF Pdg Realtime Base — 6-DoF powered descent guidance base problem for realtime OpenSCvx demos.
Cinema Vp Realtime Base — Base problem setup for real-time cinematic viewpoint planning.
Drone Racing Realtime Base — 6-DOF quadrotor racing through sequential gates.
Dubins Car Realtime Base — Dubins car path planning with obstacle avoidance.
Obstacle Avoidance Realtime Base — Base problem setup for real-time 6-DOF obstacle avoidance.
Cinema Vp Realtime — Interactive real-time visualization for cinematic viewpoint planning using Viser.
Drone Racing Realtime — Interactive real-time visualization for drone racing using Viser.
Dubins Car Realtime — Interactive real-time visualization for Dubins car path planning using Viser.
Obstacle Avoidance Realtime — Interactive real-time visualization for drone obstacle avoidance using Viser.

Powered descent guidance sketches in 3-DOF and 6-DOF.

Orbital transfers, halo orbits, and relative-motion prox-ops style problems.

Halo Orbit — Southern L2 Halo orbit initial conditions definition
Hohmann Transfer — Hohmann transfer with impulsive delta-v controls (LEO → GEO).
Let Transfer — Low-Energy Transfer (LET) setup in Sun-Earth CR3BP with one departure impulse.
Proxops Cw — Proximity Operations (ProxOps) using Clohessy-Wiltshire dynamics.

Paths mirror the repo layout: examples/<category>/.... Utility modules (for example plotting helpers) are omitted from this index.