Click on thumbnails to enlarge figures and display Python code and data. You will also need a few library files that are included only in the zip file below, so if you want to run the scripts the best approach is to download the complete collection of .py files.
Running the example files requires Python (3.10 or later), CasADi, and paresto (included in the zip).
Python download:
Octave/Matlab legacy code (current as of 12/2024; no longer maintained):