Here are some experimental models. Some are using Peter Corke's robotics toolbox, let me know if you would like to give it a try! OpenOCL/OpenOCL#102
Collection of (very experimental) models for optimal control with OpenOCL.
Code generation of RTB model with symbolic toolbox and casadi: rtb_p560_symbolic_sim
rtb: models used with Peter Corke's robotics toolbox
For optimal control example see/run rtb_p560_symbolic_sim/p560_ocl_explicit_optimize.m
This repository is very experimental!
Downlod/install from http://petercorke.com/wordpress/toolboxes/robotics-toolbox
Downlod/install from https://openocl.org/get-started/
Run setup
ocl