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diff --git a/_images/c7580ac5663c46303460d6f091cc21b73bc5411a08410629a341127cd023ae44.png b/_images/c7580ac5663c46303460d6f091cc21b73bc5411a08410629a341127cd023ae44.png
diff --git a/_images/cfe10624ec001205eb75198db6126ff26b314565b0abd800cd2efc1843999535.png b/_images/cfe10624ec001205eb75198db6126ff26b314565b0abd800cd2efc1843999535.png
diff --git a/_images/d70dbfca93a92ffeb2fa2af6b350d6cb30bb45aec2763c2c2d9de82f4f028807.png b/_images/d70dbfca93a92ffeb2fa2af6b350d6cb30bb45aec2763c2c2d9de82f4f028807.png
diff --git a/_sources/notebooks/interface_to_spice.ipynb b/_sources/notebooks/interface_to_spice.ipynb
@@ -322,7 +322,7 @@
  "name": "python",
  "nbconvert_exporter": "python",
  "pygments_lexer": "ipython3",
- "version": "3.12.3"
+ "version": "3.11.9"
  }
  },
  "nbformat": 4,

diff --git a/_sources/notebooks/udp_pl2pl.ipynb b/_sources/notebooks/udp_pl2pl.ipynb
diff --git a/_sources/notebooks/udp_point2point.ipynb b/_sources/notebooks/udp_point2point.ipynb
diff --git a/_sources/trajopt.rst b/_sources/trajopt.rst
@@ -18,5 +18,7 @@ Direct
 .. autoclass:: direct_point2point
  :members: pretty, plot
 
+.. autoclass:: direct_pl2pl
+ :members: pretty, plot
 
 
diff --git a/genindex.html b/genindex.html
@@ -421,6 +421,8 @@ <h2 id="D">D</h2>
 </li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="trajopt.html#pykep.trajopt.direct_pl2pl">direct_pl2pl (class in pykep.trajopt)</a>
+</li>
  <li><a href="trajopt.html#pykep.trajopt.direct_point2point">direct_point2point (class in pykep.trajopt)</a>
 </li>
  </ul></td>
@@ -677,12 +679,20 @@ <h2 id="P">P</h2>
 </li>
  <li><a href="planet.html#pykep.planet">planet (class in pykep)</a>
 </li>
+ <li><a href="trajopt.html#pykep.trajopt.direct_pl2pl.plot">plot() (pykep.trajopt.direct_pl2pl method)</a>
+
+ <ul>
+ <li><a href="trajopt.html#pykep.trajopt.direct_point2point.plot">(pykep.trajopt.direct_point2point method)</a>
+</li>
+ </ul></li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="trajopt.html#pykep.trajopt.direct_point2point.plot">plot() (pykep.trajopt.direct_point2point method)</a>
-</li>
- <li><a href="trajopt.html#pykep.trajopt.direct_point2point.pretty">pretty() (pykep.trajopt.direct_point2point method)</a>
+ <li><a href="trajopt.html#pykep.trajopt.direct_pl2pl.pretty">pretty() (pykep.trajopt.direct_pl2pl method)</a>
+
+ <ul>
+ <li><a href="trajopt.html#pykep.trajopt.direct_point2point.pretty">(pykep.trajopt.direct_point2point method)</a>
 </li>
+ </ul></li>
  <li><a href="propagation.html#pykep.propagate_lagrangian">propagate_lagrangian() (in module pykep)</a>
 </li>
  <li><a href="propagation.html#pykep.propagate_lagrangian_v">propagate_lagrangian_v() (in module pykep)</a>

diff --git a/notebooks/anomalies.html b/notebooks/anomalies.html
@@ -502,7 +502,7 @@ <h1>The various anomalies in pykep<a class="headerlink" href="#the-various-anoma
 </div>
 </div>
 <div class="cell_output docutils container">
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>We solve 5941204 Kepler&#39;s Equations each second.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>We solve 5935065 Kepler&#39;s Equations each second.
 </pre></div>
 </div>
 </div>

diff --git a/notebooks/epochs.html b/notebooks/epochs.html
@@ -526,7 +526,7 @@ <h2>Julian dates<a class="headerlink" href="#julian-dates" title="Permalink to t
 </div>
 </div>
 <div class="cell_output docutils container">
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>2024-06-28T11:09:56.527705
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>2024-07-08T09:20:34.048868
 </pre></div>
 </div>
 </div>

diff --git a/notebooks/plotting.html b/notebooks/plotting.html
@@ -522,7 +522,26 @@ <h3>Plot planets<a class="headerlink" href="#plot-planets" title="Permalink to t
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../_images/1f5b63d62e5a00cbc943106803267c6058880425dda5d7792e0483ba5c85cb49.png" src="../_images/1f5b63d62e5a00cbc943106803267c6058880425dda5d7792e0483ba5c85cb49.png" />
+<div class="output traceback highlight-ipythontb notranslate"><div class="highlight"><pre><span></span><span class="gt">---------------------------------------------------------------------------</span>
+<span class="ne">TypeError</span><span class="g g-Whitespace"> </span>Traceback (most recent call last)
+<span class="n">Cell</span> <span class="n">In</span><span class="p">[</span><span class="mi">4</span><span class="p">],</span> <span class="n">line</span> <span class="mi">3</span>
+<span class="g g-Whitespace"> </span><span class="mi">1</span> <span class="n">ax</span> <span class="o">=</span> <span class="n">pk</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">make_3Daxis</span><span class="p">(</span><span class="n">figsize</span> <span class="o">=</span> <span class="p">(</span><span class="mi">6</span><span class="p">,</span><span class="mi">6</span><span class="p">))</span>
+<span class="g g-Whitespace"> </span><span class="mi">2</span> <span class="n">ep</span> <span class="o">=</span> <span class="n">pk</span><span class="o">.</span><span class="n">epoch</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+<span class="ne">----&gt; </span><span class="mi">3</span> <span class="n">pk</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">add_solar_system</span><span class="p">(</span><span class="n">ax</span><span class="p">,</span> <span class="n">bodies</span> <span class="o">=</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">,</span><span class="mi">5</span><span class="p">],</span> <span class="n">ep</span> <span class="o">=</span> <span class="n">ep</span><span class="p">)</span>
+<span class="g g-Whitespace"> </span><span class="mi">4</span> <span class="n">ax</span><span class="o">.</span><span class="n">view_init</span><span class="p">(</span><span class="mi">90</span><span class="p">,</span><span class="mi">0</span><span class="p">)</span>
+<span class="g g-Whitespace"> </span><span class="mi">5</span> <span class="n">ax</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
+
+<span class="nn">File ~/local/lib/python3.11/site-packages/pykep/plot/_planet.py:117,</span> in <span class="ni">add_solar_system</span><span class="nt">(ax, bodies, ep, s)</span>
+<span class="g g-Whitespace"> </span><span class="mi">115</span> <span class="k">if</span> <span class="mi">1</span> <span class="ow">in</span> <span class="n">bodies</span><span class="p">:</span>
+<span class="g g-Whitespace"> </span><span class="mi">116</span> <span class="n">udpla</span> <span class="o">=</span> <span class="n">_pk</span><span class="o">.</span><span class="n">udpla</span><span class="o">.</span><span class="n">jpl_lp</span><span class="p">(</span><span class="n">body</span><span class="o">=</span><span class="s2">&quot;Mercury&quot;</span><span class="p">)</span>
+<span class="ne">--&gt; </span><span class="mi">117</span> <span class="n">mercury</span> <span class="o">=</span> <span class="n">_pk</span><span class="o">.</span><span class="n">planet_to_keplerian</span><span class="p">(</span><span class="n">_pk</span><span class="o">.</span><span class="n">planet</span><span class="p">(</span><span class="n">udpla</span><span class="p">),</span> <span class="n">ep</span><span class="o">=</span><span class="n">ep</span><span class="p">)</span>
+<span class="g g-Whitespace"> </span><span class="mi">118</span> <span class="n">_pk</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">add_planet_orbit</span><span class="p">(</span><span class="n">ax</span><span class="p">,</span> <span class="n">mercury</span><span class="p">,</span> <span class="n">c</span><span class="o">=</span><span class="s2">&quot;tomato&quot;</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
+<span class="g g-Whitespace"> </span><span class="mi">119</span> <span class="n">_pk</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">add_planet</span><span class="p">(</span><span class="n">ax</span><span class="p">,</span> <span class="n">mercury</span><span class="p">,</span> <span class="n">when</span><span class="o">=</span><span class="n">ep</span><span class="p">,</span> <span class="n">c</span><span class="o">=</span><span class="s2">&quot;tomato&quot;</span><span class="p">,</span> <span class="n">s</span><span class="o">=</span><span class="n">s</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">label</span> <span class="o">=</span> <span class="s2">&quot;Mercury&quot;</span><span class="p">)</span>
+
+<span class="ne">TypeError</span>: planet_to_keplerian() got an unexpected keyword argument &#39;ep&#39;
+</pre></div>
+</div>
+<img alt="../_images/96cac43e64f29eac6c718d74ff130cf052a7c9c6ecbf8ea79a015d4d489f4ba2.png" src="../_images/96cac43e64f29eac6c718d74ff130cf052a7c9c6ecbf8ea79a015d4d489f4ba2.png" />
 </div>
 </div>
 </section>
@@ -569,7 +588,7 @@ <h3>Plot a Lambert arc<a class="headerlink" href="#plot-a-lambert-arc" title="Pe
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../_images/dce5c54680eea43a51eba7cca3eab836246e31e4cfc3ba68dbbb6deb0f916f60.png" src="../_images/dce5c54680eea43a51eba7cca3eab836246e31e4cfc3ba68dbbb6deb0f916f60.png" />
+<img alt="../_images/2cd6e41eb60a04d3a8c8e0f3dba65e341e47847492ac3fca079ff7590d2d620a.png" src="../_images/2cd6e41eb60a04d3a8c8e0f3dba65e341e47847492ac3fca079ff7590d2d620a.png" />
 </div>
 </div>
 <div class="cell docutils container">
@@ -615,7 +634,7 @@ <h3>Plot a Lambert arc<a class="headerlink" href="#plot-a-lambert-arc" title="Pe
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../_images/3546bb5597287ebfce28138d3f0c3301184f9b348b30652fd13a4ead1aeffd74.png" src="../_images/3546bb5597287ebfce28138d3f0c3301184f9b348b30652fd13a4ead1aeffd74.png" />
+<img alt="../_images/531d77567c1b90a85a7388a909c47d032a11aa15a46de162b0d14eda6e65bcba.png" src="../_images/531d77567c1b90a85a7388a909c47d032a11aa15a46de162b0d14eda6e65bcba.png" />
 </div>
 </div>
 </section>
@@ -659,7 +678,7 @@ <h3>Plot a Sims-Flanagan trajectory leg.<a class="headerlink" href="#plot-a-sims
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../_images/b7988e5bd39d763183aca67a8f9c83ac6830064f7e1a5bd3c28d512a00444a3b.png" src="../_images/b7988e5bd39d763183aca67a8f9c83ac6830064f7e1a5bd3c28d512a00444a3b.png" />
+<img alt="../_images/a988b7d4757a7138202e15a39862388c23c170829066954c0ee7c871160e234f.png" src="../_images/a988b7d4757a7138202e15a39862388c23c170829066954c0ee7c871160e234f.png" />
 </div>
 </div>
 </section>

diff --git a/notebooks/propagate_lagrangian.html b/notebooks/propagate_lagrangian.html
@@ -478,7 +478,7 @@ <h1>Lagrange Propagation<a class="headerlink" href="#lagrange-propagation" title
 </div>
 <div class="cell_output docutils container">
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Only Keplerian Propagations
- Real time: 0.07442 seconds
+ Real time: 0.08034 seconds
 </pre></div>
 </div>
 </div>
@@ -497,7 +497,7 @@ <h1>Lagrange Propagation<a class="headerlink" href="#lagrange-propagation" title
 </div>
 <div class="cell_output docutils container">
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Keplerian Propagations with the STM computations
- Real time: 0.23353 seconds
+ Real time: 0.23731 seconds
 </pre></div>
 </div>
 </div>

diff --git a/notebooks/sims_flanagan_leg.html b/notebooks/sims_flanagan_leg.html
@@ -502,7 +502,7 @@ <h1>The Sims-Flanagan trajectory leg<a class="headerlink" href="#the-sims-flanag
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../_images/d70dbfca93a92ffeb2fa2af6b350d6cb30bb45aec2763c2c2d9de82f4f028807.png" src="../_images/d70dbfca93a92ffeb2fa2af6b350d6cb30bb45aec2763c2c2d9de82f4f028807.png" />
+<img alt="../_images/3749e58fcecefb63d415e0b714b69e9192e70263388392d014c8a7c1d59ce4a9.png" src="../_images/3749e58fcecefb63d415e0b714b69e9192e70263388392d014c8a7c1d59ce4a9.png" />
 </div>
 </div>
 </section>