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direct-multiple-shooting

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pyomeca / bioptim

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

control robotics biomechanics optimal-control stochastic-optimal-control dmoc discrete-mechanics forward-simulation casadi moving-horizon-estimation direct-collocation musculoskeletal-simulations musculoskeletal-model direct-multiple-shooting dmocc fatigue-dynamics

Updated Nov 4, 2025
Python

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