SE(3) SQP Solver

SQP-based trajectory optimization for robots, built on HPIPM and Pinocchio.

Build

./build-docker.sh
./run-docker.sh

Inside the container:

cd /workspace/code
mkdir build && cd build
cmake ..
make -j2

Examples

./example_trajopt     # pendubot swing-up
./franka_reaching     # Franka Panda end-effector tracking
./go2_trot            # Unitree Go2 trotting gait

Aknowledgment

This project has been funded by the ORION Educational Programme (Université de Lorraine) and partially funded by the JCJC Project ANR-24-CE33-0753-01 MeRLin.