ResearchBenchmarksTrot on Go2 Locomotion Full Hard (100 random trials)Follow100Solved Problems CountHippo-4235077Mar 1, 2026Evaluation ResultsMethodMethodLinksSolved Problems CountAverage Timing (ms) per QPHippo2026.031002.67Hippo(i)2026.031002.95fatropinterface=direct CasAD...interface=direct CasADi OptiStack2026.0310023.9acados2026.031002.81aligator2026.030—mim_solver2026.030—