diff --git a/examples-gallery/beginner/plot_tractor_three_trailer.py b/examples-gallery/beginner/plot_tractor_three_trailer.py
new file mode 100644
index 00000000..0124adf5
--- /dev/null
+++ b/examples-gallery/beginner/plot_tractor_three_trailer.py
@@ -0,0 +1,787 @@
+# %%
+r"""
+Tractor-Trailer Parking
+=======================
+
+Objectives
+----------
+
+- Show how to use adjustable bounds to make a problem more realistic (Here
+  it is enough that the unit is approximately straight in the parking spot)
+  and simplify convergence.
+- Show how to use `eom_bounds` to keep the truck and trailers
+  above the function defining the parking spot.
+
+Description
+-----------
+
+A tractor has three trailers attached to it, and the goal is to park it in a
+designated parking spot in the horizonzal X/Y plane.
+The tractor has rear wheel drive and front wheel
+steering. The trailers are connected to the tractor and to each other with
+"tow bars". The steering angle and the rotation of the front axle of each
+trailer w.r.t. the trailer are limited. Also two adjacent vehicles must not
+form an angle smaller than :math:`\frac{\pi}{2}`. (All arbitrary limits)
+
+Notes
+-----
+
+- Convergence is quite slow.
+- The plot shows that the solution uses the leeway given by the adjsutable
+  bounds.
+
+**States**
+
+- :math:`q_{10}, q_{20}, q_{30}, q_{40}`:
+  The angles of the tractor and trailers. :math:`q_{10}`
+  is the angle of the tractor w.r.t. the inertial frame, the other angles are
+  relative to the previous vehicle.
+- :math:`q_{11}, q_{21}, q_{31}, q_{41}`: The steering angles of the axles
+  w.r.t. the respective vehicles.
+- :math:`x, y`: The position of the mass center of the tractor in the
+  inertial frame.
+- :math:`u_{10}, u_{20}, u_{30}, u_{40}`: The angular velocities of the
+  tractor and trailers.
+- :math:`u_{11}, u_{21}, u_{31}, u_{41}`: The angular velocities of the
+  steering axles.
+- :math:`u_x, u_y`: The velocities of the mass center of the tractor in the
+  inertial frame.
+
+**Controls**
+
+- :math:`F`: The force applied to the rear axle of the tractor.
+- :math:`Torq`: The torque applied to the steering axle of the tractor.
+
+**Parameters**
+
+- :math:`m_1, m_2, m_3, m_4`: The masses of the tractor and trailers.
+- :math:`m_w`: The mass of the wheels.
+- :math:`l_1, l_2, l_3, l_4`: The lengths of the tractor and trailers.
+- :math:`l_d`: The length of the tow bars.
+- :math:`l_{ax}`: The distance from the center of the axle to the wheels.
+- :math:`g`: The gravitational acceleration.
+- :math:`w_i, d_i`: width / 2 and depth of the parking spot.
+
+**Others**
+
+- :math:`x_{4b}, y_{4b}`: The position of the back end of the third trailer
+  in the inertial frame.
+
+"""
+import os
+import sympy as sm
+import sympy.physics.mechanics as me
+import numpy as np
+import matplotlib.pyplot as plt
+from matplotlib.patches import FancyArrowPatch
+from opty import Problem
+from scipy.interpolate import interp1d
+from matplotlib.animation import FuncAnimation
+
+#import matplotlib as mp
+#%matplotlib inline
+#from IPython.display import HTML
+#mp.rcParams['animation.embed_limit'] = 2**128
+#from matplotlib import animation
+
+
+# %%
+# Kanes Equation of Motion
+# ------------------------
+#
+# Geometry.
+
+N, A10, A11, A20, A21, A30, A31, A40, A41 = sm.symbols(
+    'N A10 A11 A20 A21 A30 A31 A40 A41', cls=me.ReferenceFrame)
+O = me.Point('O')
+O.set_vel(N, 0)
+t = me.dynamicsymbols._t
+
+Dmc1, P1f, P1b, Dmc2, P2f, P2b, Dmc3, P3f, P3b, Dmc4, P4f, P4b = sm.symbols(
+    'Dmc1 P1f P1b Dmc2 P2f P2b Dmc3 P3f P3b Dmc4 P4f P4b', cls=me.Point)
+
+P1fl, P1fr, P1bl, P1br = sm.symbols(
+    'P1fl P1fr P1bl P1br', cls=me.Point)
+P2fl, P2fr, P2bl, P2br = sm.symbols(
+    'P2fl P2fr P2bl P2br', cls=me.Point)
+P3fl, P3fr, P3bl, P3br = sm.symbols(
+    'P3fl P3fr P3bl P3br', cls=me.Point)
+P4fl, P4fr, P4bl, P4br = sm.symbols(
+    'P4fl P4fr P4bl P4br', cls=me.Point)
+
+q10, q11, q20, q21, q30, q31, q40, q41 = me.dynamicsymbols(
+    'q10 q11 q20 q21 q30 q31 q40 q41')
+u10, u11, u20, u21, u30, u31, u40, u41 = me.dynamicsymbols(
+    'u10 u11 u20 u21 u30 u31 u40 u41')
+x, y, ux, uy = me.dynamicsymbols('x y ux uy')
+F, Torq = me.dynamicsymbols('F Torq')
+
+# %%
+# Parameters.
+m1, m2, m3, m4, mw, l1, l2, l3, l4, ld, lax, g = sm.symbols(
+    'm1 m2 m3 m4 mw l1 l2 l3 l4 ld lax g')
+
+# %%
+# Orient the body fixed frames and set their angular velocities.
+# :math:`A_{i0}` is the body fixed frame of the :math:`i^{th}` vehicle,
+# :math:`A_{i1}` is the body fixed frame of the steering axle of the
+# :math:`i^{th}`  vehicle.
+A10.orient_axis(N, q10, N.z)
+A10.set_ang_vel(N, u10 * N.z)
+A11.orient_axis(A10, q11, N.z)
+A11.set_ang_vel(A10, u11 * N.z)
+A20.orient_axis(A10, q20, N.z)
+A20.set_ang_vel(A10, u20 * N.z)
+A21.orient_axis(A20, q21, N.z)
+A21.set_ang_vel(A20, u21 * N.z)
+A30.orient_axis(A20, q30, N.z)
+A30.set_ang_vel(A20, u30 * N.z)
+A31.orient_axis(A30, q31, N.z)
+A31.set_ang_vel(A30, u31 * N.z)
+A40.orient_axis(A30, q40, N.z)
+A40.set_ang_vel(A30, u40 * N.z)
+A41.orient_axis(A40, q41, N.z)
+A41.set_ang_vel(A40, u41 * N.z)
+
+# %%
+# Define the various points and set their velocities.
+#
+# The truck.
+Dmc1.set_pos(O, x * N.x + y * N.y)
+Dmc1.set_vel(N, ux * N.x + uy * N.y)
+P1f.set_pos(Dmc1, l1/2 * A10.x)
+P1f.v2pt_theory(Dmc1, N, A10)
+P1b.set_pos(Dmc1, -l1/2 * A10.x)
+P1b.v2pt_theory(Dmc1, N, A10)
+P1fl.set_pos(P1f, lax * A11.y)
+P1fl.v2pt_theory(P1f, N, A11)
+P1fr.set_pos(P1f, -lax * A11.y)
+P1fr.v2pt_theory(P1f, N, A11)
+P1bl.set_pos(P1b, lax * A10.y)
+P1bl.v2pt_theory(P1b, N, A10)
+P1br.set_pos(P1b, -lax * A10.y)
+_ = P1br.v2pt_theory(P1b, N, A10)
+
+# %%
+# Trailer 1.
+P2f.set_pos(P1b, -ld * A21.x)
+P2f.v2pt_theory(P1b, N, A21)
+Dmc2.set_pos(P2f, -l2/2 * A20.x)
+Dmc2.v2pt_theory(P2f, N, A20)
+P2b.set_pos(Dmc2, -l2/2 * A20.x)
+P2b.v2pt_theory(Dmc2, N, A20)
+P2fl.set_pos(P2f, lax * A21.y)
+P2fl.v2pt_theory(P2f, N, A21)
+P2fr.set_pos(P2f, -lax * A21.y)
+P2fr.v2pt_theory(P2f, N, A21)
+P2bl.set_pos(P2b, lax * A20.y)
+P2bl.v2pt_theory(P2b, N, A20)
+P2br.set_pos(P2b, -lax * A20.y)
+_ = P2br.v2pt_theory(P2b, N, A20)
+
+# %%
+# Trailer 2.
+P3f.set_pos(P2b, -ld * A31.x)
+P3f.v2pt_theory(P2b, N, A31)
+Dmc3.set_pos(P3f, -l3/2 * A30.x)
+Dmc3.v2pt_theory(P3f, N, A30)
+P3b.set_pos(Dmc3, -l3/2 * A30.x)
+P3b.v2pt_theory(Dmc3, N, A30)
+P3fl.set_pos(P3f, lax * A31.y)
+P3fl.v2pt_theory(P3f, N, A31)
+P3fr.set_pos(P3f, -lax * A31.y)
+P3fr.v2pt_theory(P3f, N, A31)
+P3bl.set_pos(P3b, lax * A30.y)
+P3bl.v2pt_theory(P3b, N, A30)
+P3br.set_pos(P3b, -lax * A30.y)
+_ = P3br.v2pt_theory(P3b, N, A30)
+
+# %%
+# Trailer 3.
+P4f.set_pos(P3b, -ld * A41.x)
+P4f.v2pt_theory(P3b, N, A41)
+Dmc4.set_pos(P4f, -l4/2 * A40.x)
+Dmc4.v2pt_theory(P4f, N, A40)
+P4b.set_pos(Dmc4, -l4/2 * A40.x)
+P4b.v2pt_theory(Dmc4, N, A40)
+P4fl.set_pos(P4f, lax * A41.y)
+P4fl.v2pt_theory(P4f, N, A41)
+P4fr.set_pos(P4f, -lax * A41.y)
+P4fr.v2pt_theory(P4f, N, A41)
+P4bl.set_pos(P4b, lax * A40.y)
+P4bl.v2pt_theory(P4b, N, A40)
+P4br.set_pos(P4b, -lax * A40.y)
+_ = P4br.v2pt_theory(P4b, N, A40)
+
+
+# %%
+# Form the bodies and the forces.
+IZZtruck = 1/12 * m1 * l1**2
+IZZtrailer1 = 1/12 * m2 * l2**2
+IZZtrailer2 = 1/12 * m3 * l3**2
+IZZtrailer3 = 1/12 * m4 * l4**2
+I_truck = me.inertia(A10, 0, 0, IZZtruck)
+I_trailer1 = me.inertia(A20, 0, 0, IZZtrailer1)
+I_trailer2 = me.inertia(A30, 0, 0, IZZtrailer2)
+I_trailer3 = me.inertia(A40, 0, 0, IZZtrailer3)
+
+truck = me.RigidBody('Truck', Dmc1, A10, m1, (I_truck, Dmc1))
+trailer1 = me.RigidBody('Trailer1', Dmc2, A20, m2, (I_trailer1, Dmc2))
+trailer2 = me.RigidBody('Trailer2', Dmc3, A30, m3, (I_trailer2, Dmc3))
+trailer3 = me.RigidBody('Trailer3', Dmc4, A40, m4, (I_trailer3, Dmc4))
+
+P1fla = me.Particle('P1fla', P1fl, mw)
+P1fra = me.Particle('P1fra', P1fr, mw)
+P1bla = me.Particle('P1bla', P1bl, mw)
+P1bra = me.Particle('P1bra', P1br, mw)
+P2fla = me.Particle('P2fla', P2fl, mw)
+P2fra = me.Particle('P2fra', P2fr, mw)
+P2bla = me.Particle('P2bla', P2bl, mw)
+P2bra = me.Particle('P2bra', P2br, mw)
+P3fla = me.Particle('P3fla', P3fl, mw)
+P3fra = me.Particle('P3fra', P3fr, mw)
+P3bla = me.Particle('P3bla', P3bl, mw)
+P3bra = me.Particle('P3bra', P3br, mw)
+P4fla = me.Particle('P4fla', P4fl, mw)
+P4fra = me.Particle('P4fra', P4fr, mw)
+P4bla = me.Particle('P4bla', P4bl, mw)
+P4bra = me.Particle('P4bra', P4br, mw)
+
+bodies = [truck, trailer1, trailer2, trailer3,
+          P1fla, P1fra, P1bla, P1bra,
+          P2fla, P2fra, P2bla, P2bra,
+          P3fla, P3fra, P3bla, P3bra,
+          P4fla, P4fra, P4bla, P4bra]
+
+FL = [(P1b, F * A10.x), (A11, Torq * N.z)]
+
+# %%
+# Kinematic differential equations.
+kd = sm.Matrix([
+    q10.diff(t) - u10,
+    q11.diff(t) - u11,
+    q20.diff(t) - u20,
+    q21.diff(t) - u21,
+    q30.diff(t) - u30,
+    q31.diff(t) - u31,
+    q40.diff(t) - u40,
+    q41.diff(t) - u41,
+    ux - x.diff(t),
+    uy - y.diff(t),
+])
+
+# %%
+# Speed constraints: No speed in direction of the axles.
+speed_constr = sm.Matrix([
+    P1f.vel(N).dot(A11.y),
+    P1b.vel(N).dot(A10.y),
+    P2f.vel(N).dot(A21.y),
+    P2b.vel(N).dot(A20.y),
+    P3f.vel(N).dot(A31.y),
+    P3b.vel(N).dot(A30.y),
+    P4f.vel(N).dot(A41.y),
+    P4b.vel(N).dot(A40.y)
+
+])
+
+# %%
+# Form the equations of motion.
+q_ind = [q10, q11, q20, q21, q30, q31, q40, q41, x, y]
+u_ind = [u11, ux]
+u_dep = [u10, u20, u21, u30, u31, u40, u41, uy]
+
+kanes = me.KanesMethod(
+    N,
+    q_ind,
+    u_ind,
+    kd_eqs=kd,
+    u_dependent=u_dep,
+    velocity_constraints=speed_constr,
+)
+fr, frstar = kanes.kanes_equations(bodies, FL)
+eom = kd.col_join(fr + frstar)
+eom = eom.col_join(speed_constr)
+
+# %%
+# Add additional constraints.
+#
+# Form the negative hump of width :math:`2 \cdot w_i` and depth :math:`d_i`.
+wi, di, steep = sm.symbols('wi di steep')
+
+
+def smooth_hump(x, wi, di, steep=15):
+    """returns -di if x is between -wi and wi, and 0 otherwise, with a
+    smooth transition determined by steep"""
+    return - 0.5 * di * (sm.tanh(steep * (x + wi)) -
+                         sm.tanh(steep * (x - wi)))
+
+
+# %%
+# Wheels and mass centers must be above the function forming the parking spot.
+alg_eqs = sm.Matrix([
+    P1fl.pos_from(O).dot(N.y) - smooth_hump(P1fl.pos_from(O).dot(N.x), wi, di),
+    P1fr.pos_from(O).dot(N.y) - smooth_hump(P1fr.pos_from(O).dot(N.x), wi, di),
+    P1bl.pos_from(O).dot(N.y) - smooth_hump(P1bl.pos_from(O).dot(N.x), wi, di),
+    P1br.pos_from(O).dot(N.y) - smooth_hump(P1br.pos_from(O).dot(N.x), wi, di),
+    P2fl.pos_from(O).dot(N.y) - smooth_hump(P2fl.pos_from(O).dot(N.x), wi, di),
+
+    P2fr.pos_from(O).dot(N.y) - smooth_hump(P2fr.pos_from(O).dot(N.x), wi, di),
+    P2bl.pos_from(O).dot(N.y) - smooth_hump(P2bl.pos_from(O).dot(N.x), wi, di),
+    P2br.pos_from(O).dot(N.y) - smooth_hump(P2br.pos_from(O).dot(N.x), wi, di),
+    P3fl.pos_from(O).dot(N.y) - smooth_hump(P3fl.pos_from(O).dot(N.x), wi, di),
+    P3fr.pos_from(O).dot(N.y) - smooth_hump(P3fr.pos_from(O).dot(N.x), wi, di),
+    P3bl.pos_from(O).dot(N.y) - smooth_hump(P3bl.pos_from(O).dot(N.x), wi, di),
+    P3br.pos_from(O).dot(N.y) - smooth_hump(P3br.pos_from(O).dot(N.x), wi, di),
+
+    P4fl.pos_from(O).dot(N.y) - smooth_hump(P4fl.pos_from(O).dot(N.x), wi, di),
+    P4fr.pos_from(O).dot(N.y) - smooth_hump(P4fr.pos_from(O).dot(N.x), wi, di),
+    P4bl.pos_from(O).dot(N.y) - smooth_hump(P4bl.pos_from(O).dot(N.x), wi, di),
+    P4br.pos_from(O).dot(N.y) - smooth_hump(P4br.pos_from(O).dot(N.x), wi, di),
+    Dmc1.pos_from(O).dot(N.y) - smooth_hump(Dmc1.pos_from(O).dot(N.x), wi, di),
+
+    Dmc2.pos_from(O).dot(N.y) - smooth_hump(Dmc2.pos_from(O).dot(N.x), wi, di),
+    Dmc3.pos_from(O).dot(N.y) - smooth_hump(Dmc3.pos_from(O).dot(N.x), wi, di),
+    Dmc4.pos_from(O).dot(N.y) - smooth_hump(Dmc4.pos_from(O).dot(N.x), wi, di),
+])
+
+
+eom = eom.col_join(alg_eqs)
+# %%
+# Needed to "address" the end of the last trailer .
+x4b, y4b = me.dynamicsymbols('x4b y4b')
+ende = sm.Matrix([
+    x4b - P4b.pos_from(O).dot(N.x),
+    y4b - P4b.pos_from(O).dot(N.y)
+])
+eom = eom.col_join(ende)
+print(f"the eoms contain {sm.count_ops(eom):,} operations, "
+      f" {sm.count_ops(sm.cse(eom)):,} after cse, and shape "
+      f"{eom.shape}")
+
+
+# %%
+# Set Up the Optimization
+# -----------------------
+h = sm.symbols('h')
+state_symbols = q_ind + u_ind + u_dep
+
+num_nodes = 351
+
+t0, tf = 0.0, h * (num_nodes - 1)
+interval_value = h
+
+# %%
+# set the parameters.
+par_map = {}
+par_map[m1] = 1.0
+par_map[m2] = 1.0
+par_map[m3] = 1.0
+par_map[m4] = 1.0
+par_map[mw] = 0.25
+par_map[l1] = 1.0
+par_map[l2] = 2.0
+par_map[l3] = 3.0
+par_map[l4] = 4.0
+par_map[ld] = 0.75
+par_map[lax] = 0.75
+par_map[g] = 9.81
+par_map[wi] = 1.75
+par_map[di] = 12.0
+
+
+def obj(free):
+    return free[-1]
+
+
+def obj_grad(free):
+    grad = np.zeros_like(free)
+    grad[-1] = 1.0
+    return grad
+
+
+# %%
+# Bound the force and the torque.
+limit = 500.0
+
+# %%
+# Set the instance constraints.
+instance_constraints = [
+    q10.func(t0) - np.pi / 2.0,
+    q11.func(t0) - 0.0,
+    q20.func(t0) - 0.0,
+    q21.func(t0) - 0.0,
+    q30.func(t0) - 0.0,
+    q31.func(t0) - 0.0,
+    q40.func(t0) - 0.0,
+    q41.func(t0) - 0.0,
+
+    x.func(t0) - 25.0,
+    y.func(t0) - 25.0,
+    u10.func(t0) - 0.0,
+    u11.func(t0) - 0.0,
+    u20.func(t0) - 0.0,
+    u21.func(t0) - 0.0,
+    u30.func(t0) - 0.0,
+    u31.func(t0) - 0.0,
+    u40.func(t0) - 0.0,
+    u41.func(t0) - 0.0,
+
+    ux.func(t0) - 0.0,
+    uy.func(t0) - 0.0,
+    x4b.func(t0) - 25.0,
+    y4b.func(t0) - 25 + (par_map[l4] + par_map[l3] + par_map[l2] +
+                         3.0 * par_map[ld] + par_map[l1] /2),
+    y4b.func(tf) + par_map[di] - 0.5,
+    ux.func(tf) - 0.0,
+    uy.func(tf) - 0.0,
+    u10.func(tf) - 0.0,
+    u11.func(tf) - 0.0,
+    u20.func(tf) - 0.0,
+    u21.func(tf) - 0.0,
+    u30.func(tf) - 0.0,
+    u31.func(tf) - 0.0,
+    u40.func(tf) - 0.0,
+    u41.func(tf) - 0.0,
+]
+
+# %%
+# While traveling the angle between two adjacent vehicles must be larger than
+# :math:`\frac{\pi}{2}`, and the angles must be approx. straight in the
+# parking spot - but
+# allow for some deviation. The angle of the front axles of the trailers must
+# be less than :math:`\frac{\pi}{3}` w.r.t. the respective trailers, and the
+# steering axle must be less than :math:`\frac{\pi}{4}` w.r.t. the truck.
+# (of course quite arbitrary values).
+#
+# Hence adjustable bounds are used.
+low_bound_2 = np.array([-np.pi / 2 for _ in range(num_nodes - 30)] +
+                       [-np.pi / 2 / i for i in range(1, 31)])
+up_bound_2 = np.array([np.pi / 2 for _ in range(num_nodes - 30)] +
+                      [np.pi / 2 / i for i in range(1, 31)])
+
+low_bound_3 = np.array([-np.pi / 3 for _ in range(num_nodes - 30)] +
+                       [-np.pi / 3 / np.sqrt(i) for i in range(1, 31)])
+up_bound_3 = np.array([np.pi / 3 for _ in range(num_nodes - 30)] +
+                      [np.pi / 3 / np.sqrt(i) for i in range(1, 31)])
+
+low_bound_x4b = np.array([-25.0 for _ in range(num_nodes - 30)] +
+                         [-0.25 for _ in range(1, 31)])
+up_bound_x4b = np.array([50.0 for _ in range(num_nodes - 30)] +
+                        [0.25 for _ in range(1, 31)])
+
+
+bounds = {
+    h: (0.0, 0.008),
+    F: (-limit, limit),
+    Torq: (-limit, limit),
+    q20: (low_bound_2, up_bound_2),
+    q30: (low_bound_2, up_bound_2),
+    q40: (low_bound_2, up_bound_2),
+    q11: (-np.pi/4, np.pi/4),
+    q21: (low_bound_3, up_bound_3),
+    q31: (low_bound_3, up_bound_3),
+    q41: (low_bound_3, up_bound_3),
+    x4b: (low_bound_x4b, up_bound_x4b),
+    y: (-4.0, 50.0),
+}
+
+# %%
+# The truck and trailers must stay above the function defining the parking
+# spot.
+limit1, limit2 = 0.0, 50.0
+eom_bounds = {eq: (limit1, limit2) for eq in range(20, 40)}
+
+# %%
+# Solve the Problem.
+#
+# Use existing solution as initial guess if available.
+np.random.seed(0)
+initial_guess = np.random.rand(24 * num_nodes + 1)
+initial_guess[8*num_nodes:9*num_nodes - int(num_nodes/5)] = \
+    np.linspace(25.0, 0.0, num_nodes - int(num_nodes/5))
+initial_guess[9*num_nodes - int(num_nodes/5):9*num_nodes] = \
+    np.full(int(num_nodes/5), 0.0)
+initial_guess[9*num_nodes:10*num_nodes - int(num_nodes/5)] = \
+    12.0 * np.sin(2*np.pi/25 * np.linspace(
+        25.0, 0.0, num_nodes - int(num_nodes/5))) + 25.0
+initial_guess[10*num_nodes - int(num_nodes/5):10*num_nodes] = \
+    np.linspace(20.0, 0.0, int(num_nodes/5))
+initial_guess[-1] = 0.01
+
+fname = f"tractor_three_trailer_{num_nodes}_nodes_solution.csv"
+if os.path.isfile(fname):
+    initial_guess_sol = np.loadtxt(fname)
+    prob = Problem(
+        obj,
+        obj_grad,
+        eom,
+        state_symbols,
+        num_nodes,
+        interval_value,
+        known_parameter_map=par_map,
+        instance_constraints=instance_constraints,
+        bounds=bounds,
+        eom_bounds=eom_bounds,
+        time_symbol=t,
+    )
+    prob.add_option('max_iter', 100)
+    solution, info = prob.solve(initial_guess_sol)
+    print(info['status_msg'])
+
+else:
+    prob = Problem(
+        obj,
+        obj_grad,
+        eom,
+        state_symbols,
+        num_nodes,
+        interval_value,
+        known_parameter_map=par_map,
+        instance_constraints=instance_constraints,
+        bounds=bounds,
+        eom_bounds=eom_bounds,
+        time_symbol=t,
+    )
+
+    prob.add_option('max_iter', 5000)
+    solution, info = prob.solve(initial_guess)
+    print(info['status_msg'])
+    np.savetxt(fname, solution, fmt='%.12e')
+
+# %%
+# Plot the trajectories.
+
+_ = prob.plot_trajectories(solution, show_bounds=True)
+
+# %%
+# Plot the errors.
+_ = prob.plot_constraint_violations(solution, subplots=True, show_bounds=True)
+
+# %%
+# Plot the objective function.
+_ = prob.plot_objective_value()
+
+# %%
+# Animation
+# ---------
+fps = 20
+
+resultat, inputs, *_, h_val = prob.parse_free(solution)
+resultat = resultat.T
+inputs = inputs.T
+tf = h_val * (num_nodes - 1)
+t_arr = np.linspace(t0, tf, num_nodes)
+state_sol = interp1d(t_arr, resultat, kind='cubic', axis=0)
+input_sol = interp1d(t_arr, inputs, kind='cubic', axis=0)
+
+pL = [key for key in par_map.keys()]
+pL_vals = [par_map[key] for key in par_map.keys()]
+qL = q_ind + u_ind + u_dep + [F, Torq]
+
+# Define the end of the force_vector.
+arrow_head = me.Point('arrow_head')
+scale = 25.0
+arrow_head.set_pos(P1b, F / scale * A10.x)
+
+# Get the coordinates of the points in the inertial frame for plotting.
+coords = Dmc1.pos_from(O).to_matrix(N)
+for point in (P1f, P1b, P2f, P2b, P3f, P3b, P4f, P4b,
+              P1fl, P1fr, P1bl, P1br,
+              P2fl, P2fr, P2bl, P2br,
+              P3fl, P3fr, P3bl, P3br,
+              P4fl, P4fr, P4bl, P4br,
+              arrow_head):
+    coords = coords.row_join(point.pos_from(O).to_matrix(N))
+coords_lam = sm.lambdify(qL + pL, coords, cse=True)
+
+smooth_hump_lam = sm.lambdify((x, wi, di, steep),
+                              smooth_hump(x, wi, di, steep), cse=True)
+
+fig, ax = plt.subplots(figsize=(7, 7), layout='constrained')
+
+arrow = FancyArrowPatch([0.0, 0.0], [0.0, 0.0],
+                        arrowstyle='-|>',     # nicer arrow head
+                        mutation_scale=20,    # makes head bigger
+                        linewidth=1,
+                        color='green')
+_ = ax.add_patch(arrow)
+
+# Plot the points
+P1f_p = ax.scatter([], [], color='blue', s=5)
+P1b_p = ax.scatter([], [], color='blue', s=5)
+P2f_p = ax.scatter([], [], color='orange', s=5)
+P2b_p = ax.scatter([], [], color='orange', s=5)
+P3f_p = ax.scatter([], [], color='red', s=5)
+P3b_p = ax.scatter([], [], color='red', s=5)
+P4f_p = ax.scatter([], [], color='black', s=5)
+P4b_p = ax.scatter([], [], color='black', s=5)
+
+P1fl_p = ax.scatter([], [], color='blue', s=5)
+P1fr_p = ax.scatter([], [], color='blue', s=5)
+P1bl_p = ax.scatter([], [], color='blue', s=5)
+P1br_p = ax.scatter([], [], color='blue', s=5)
+P2fl_p = ax.scatter([], [], color='orange', s=5)
+P2fr_p = ax.scatter([], [], color='orange', s=5)
+P2bl_p = ax.scatter([], [], color='orange', s=5)
+P2br_p = ax.scatter([], [], color='orange', s=5)
+P3fl_p = ax.scatter([], [], color='red', s=5)
+P3fr_p = ax.scatter([], [], color='red', s=5)
+P3bl_p = ax.scatter([], [], color='red', s=5)
+P3br_p = ax.scatter([], [], color='red', s=5)
+P4fl_p = ax.scatter([], [], color='black', s=5)
+P4fr_p = ax.scatter([], [], color='black', s=5)
+P4bl_p = ax.scatter([], [], color='black', s=5)
+P4br_p = ax.scatter([], [], color='black', s=5)
+
+# lines for axes
+fax1, = ax.plot([], [], color='blue')
+bax1, = ax.plot([], [], color='blue')
+fax2, = ax.plot([], [], color='orange')
+bax2, = ax.plot([], [], color='orange')
+fax3, = ax.plot([], [], color='red')
+bax3, = ax.plot([], [], color='red')
+fax4, = ax.plot([], [], color='black')
+bax4, = ax.plot([], [], color='black')
+
+# Lines for the truck and trailers
+truck_p, = ax.plot([], [], color='blue', lw=1)
+trailer1_p, = ax.plot([], [], color='orange', lw=1)
+trailer2_p, = ax.plot([], [], color='red', lw=1)
+trailer3_p, = ax.plot([], [], color='black', lw=1)
+
+# Tow bars
+towbar1_p, = ax.plot([], [], color='green')
+towbar2_p, = ax.plot([], [], color='green')
+towbar3_p, = ax.plot([], [], color='green')
+
+# Show the actual path
+Dmc1_p, = ax.plot([], [], color='blue', linestyle='-', lw=0.5)
+
+
+# Size of the plot.
+margin = par_map[l3] + par_map[l2] + 2.0 * par_map[ld] + par_map[l1]/2
+x_max = np.max(resultat[:, 8]) + margin
+x_min = np.min(resultat[:, 8]) - margin
+y_max = np.max(resultat[:, 9]) + margin
+y_min = - par_map[di] - 0.5
+ax.set_xlim(x_min, x_max)
+ax.set_ylim(y_min, y_max)
+ax.set_aspect('equal')
+ax.set_xlabel('x (m)', fontsize=15)
+ax.set_ylabel('y (m)', fontsize=15)
+
+XX = np.linspace(x_min, x_max, 100)
+YY = smooth_hump_lam(XX, par_map[wi], par_map[di], steep=5)
+ax.plot(XX, YY, color='black')
+ax.fill_between(XX, YY, y2=y_min, color='black', alpha=0.5)
+
+ax.vlines(0.0, ymin=-par_map[di], ymax=2.0, color='black', ls='--', lw=0.5)
+ax.vlines(25.0, ymin=11.0, ymax=24.0, color='black', ls='--', lw=0.5)
+
+ax.plot(initial_guess[8*num_nodes:9*num_nodes],
+        initial_guess[9*num_nodes:10*num_nodes],
+        color='magenta', linestyle='--', lw=0.5)
+
+
+def update(t):
+    ax.set_title(f"Running time: {t:.2f} s \n "
+                 "Control force is the green arrow with magnitude: "
+                 f"{np.abs(input_sol(t))[0]:.2f} N \n "
+                 "The tractor is blue, the first trailer is orange,  "
+                 f"the second trailer is red, \n the third trailer is black."
+                 f"The tow bars are green. \n The dashed magenta line is "
+                 "the initial guess.")
+    coords_vals = coords_lam(*state_sol(t)[0:], *input_sol(t)[0:2],
+                             *pL_vals)
+
+    # Update the various objects
+    arrow.set_positions(np.array([coords_vals[0, 2], coords_vals[1, 2]]),
+                        np.array([coords_vals[0, 25], coords_vals[1, 25]]))
+
+    P1f_p.set_offsets((coords_vals[0, 1], coords_vals[1, 1]))
+    P1b_p.set_offsets((coords_vals[0, 2], coords_vals[1, 2]))
+    P2f_p.set_offsets((coords_vals[0, 3], coords_vals[1, 3]))
+    P2b_p.set_offsets((coords_vals[0, 4], coords_vals[1, 4]))
+    P3f_p.set_offsets((coords_vals[0, 5], coords_vals[1, 5]))
+    P3b_p.set_offsets((coords_vals[0, 6], coords_vals[1, 6]))
+    P4f_p.set_offsets((coords_vals[0, 7], coords_vals[1, 7]))
+    P4b_p.set_offsets((coords_vals[0, 8], coords_vals[1, 8]))
+
+    P1fl_p.set_offsets((coords_vals[0, 9], coords_vals[1, 9]))
+    P1fr_p.set_offsets((coords_vals[0, 10], coords_vals[1, 10]))
+    P1bl_p.set_offsets((coords_vals[0, 11], coords_vals[1, 11]))
+    P1br_p.set_offsets((coords_vals[0, 12], coords_vals[1, 12]))
+    P2fl_p.set_offsets((coords_vals[0, 13], coords_vals[1, 13]))
+    P2fr_p.set_offsets((coords_vals[0, 14], coords_vals[1, 14]))
+    P2bl_p.set_offsets((coords_vals[0, 15], coords_vals[1, 15]))
+    P2br_p.set_offsets((coords_vals[0, 16], coords_vals[1, 16]))
+    P3fl_p.set_offsets((coords_vals[0, 17], coords_vals[1, 17]))
+    P3fr_p.set_offsets((coords_vals[0, 18], coords_vals[1, 18]))
+    P3bl_p.set_offsets((coords_vals[0, 19], coords_vals[1, 19]))
+    P3br_p.set_offsets((coords_vals[0, 20], coords_vals[1, 20]))
+    P4fl_p.set_offsets((coords_vals[0, 21], coords_vals[1, 21]))
+    P4fr_p.set_offsets((coords_vals[0, 22], coords_vals[1, 22]))
+    P4bl_p.set_offsets((coords_vals[0, 23], coords_vals[1, 23]))
+    P4br_p.set_offsets((coords_vals[0, 24], coords_vals[1, 24]))
+
+    fax1.set_data([coords_vals[0, 9], coords_vals[0, 10]],
+                  [coords_vals[1, 9], coords_vals[1, 10]])
+    bax1.set_data([coords_vals[0, 11], coords_vals[0, 12]],
+                  [coords_vals[1, 11], coords_vals[1, 12]])
+    fax2.set_data([coords_vals[0, 13], coords_vals[0, 14]],
+                  [coords_vals[1, 13], coords_vals[1, 14]])
+    bax2.set_data([coords_vals[0, 15], coords_vals[0, 16]],
+                  [coords_vals[1, 15], coords_vals[1, 16]])
+    fax3.set_data([coords_vals[0, 17], coords_vals[0, 18]],
+                  [coords_vals[1, 17], coords_vals[1, 18]])
+    bax3.set_data([coords_vals[0, 19], coords_vals[0, 20]],
+                  [coords_vals[1, 19], coords_vals[1, 20]])
+    fax4.set_data([coords_vals[0, 21], coords_vals[0, 22]],
+                  [coords_vals[1, 21], coords_vals[1, 22]])
+    bax4.set_data([coords_vals[0, 23], coords_vals[0, 24]],
+                  [coords_vals[1, 23], coords_vals[1, 24]])
+
+    truck_p.set_data([coords_vals[0, 1], coords_vals[0, 2]],
+                     [coords_vals[1, 1], coords_vals[1, 2]])
+    trailer1_p.set_data([coords_vals[0, 3], coords_vals[0, 4]],
+                        [coords_vals[1, 3], coords_vals[1, 4]])
+    trailer2_p.set_data([coords_vals[0, 5], coords_vals[0, 6]],
+                        [coords_vals[1, 5], coords_vals[1, 6]])
+    trailer3_p.set_data([coords_vals[0, 7], coords_vals[0, 8]],
+                        [coords_vals[1, 7], coords_vals[1, 8]])
+
+    towbar1_p.set_data([coords_vals[0, 2], coords_vals[0, 3]],
+                       [coords_vals[1, 2], coords_vals[1, 3]])
+    towbar2_p.set_data([coords_vals[0, 4], coords_vals[0, 5]],
+                       [coords_vals[1, 4], coords_vals[1, 5]])
+    towbar3_p.set_data([coords_vals[0, 6], coords_vals[0, 7]],
+                       [coords_vals[1, 6], coords_vals[1, 7]])
+
+    # Trace Dmc1
+    x_list, y_list = [], []
+    for zeit in np.arange(t0, t, 1.0/fps):
+        coords_vals1 = coords_lam(*state_sol(zeit)[0:],
+                                  *input_sol(zeit)[0:2],
+                                  *pL_vals)
+        x_list.append(coords_vals1[0, 2])
+        y_list.append(coords_vals1[1, 2])
+    Dmc1_p.set_data(x_list, y_list)
+
+
+    return (P1f_p, P1b_p, P2f_p, P2b_p, P3f_p, P3b_p,
+            P1fl_p, P1fr_p, P1bl_p, P1br_p,
+            P2fl_p, P2fr_p, P2bl_p, P2br_p,
+            P3fl_p, P3fr_p, P3bl_p, P3br_p,
+            P4fl_p, P4fr_p, P4bl_p, P4br_p,
+            fax1, bax1, fax2, bax2, fax3, bax3, fax4, bax4,
+            truck_p, trailer1_p, trailer2_p, trailer3_p,
+            towbar1_p, towbar2_p, towbar3_p, Dmc1_p, arrow)
+
+
+ani = FuncAnimation(fig, update,
+                    frames=np.concatenate((np.arange(0, tf, 1.0/fps),
+                                           np.array([tf]))),
+                    interval=1500/fps, blit=False)
+
+#HTML(ani.to_jshtml())
+plt.show()
diff --git a/examples-gallery/beginner/tractor_three_trailer_351_nodes_solution.csv b/examples-gallery/beginner/tractor_three_trailer_351_nodes_solution.csv
new file mode 100644
index 00000000..47b5ba8b
--- /dev/null
+++ b/examples-gallery/beginner/tractor_three_trailer_351_nodes_solution.csv
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