ResearchBenchmarksTrot on Go2 Locomotion Reduced Hard (100 random trials)Follow100Solved Problems Countfatrop29.2847.646684.36Mar 1, 2026Evaluation ResultsMethodMethodLinksSolved Problems CountAverage Timing (ms)fatropinterface=direct CasAD...interface=direct CasADi OptiStack2026.0310024.9Hippo(i)2026.03993.01Hippo2026.03962.55acados2026.03892.6aligator2026.03819.95mim_solver2026.033214.96