{"id":295,"date":"2024-09-01T12:10:00","date_gmt":"2024-09-01T10:10:00","guid":{"rendered":"https:\/\/members.loria.fr\/EMingoHoffman\/?page_id=295"},"modified":"2026-07-27T15:25:14","modified_gmt":"2026-07-27T13:25:14","slug":"software","status":"publish","type":"page","link":"https:\/\/members.loria.fr\/EMingoHoffman\/software\/","title":{"rendered":"Software"},"content":{"rendered":"<ul>\n<li><a href=\"https:\/\/github.com\/hucebot\/OpenSoT\"><strong>OpenSoT<\/strong><\/a>: a library dedicated to hierarchical whole-body control of robots subject to linear constraints.<\/li>\n<li><a href=\"https:\/\/github.com\/hucebot\/ahmp\"><strong>AHMP<\/strong><\/a>: a framework for automatic contact and motion discovery.<\/li>\n<li><a href=\"https:\/\/github.com\/hucebot\/se3_sqp\"><strong>se3_sqp<\/strong><\/a>: SQP-based trajectory optimization for robots, built on HPIPM and Pinocchio.<\/li>\n<li><strong><a href=\"https:\/\/github.com\/hucebot\/yahmp\">YAHMP<\/a><\/strong>: a humanoid general motion tracking policy for the Unitree G1 robot.<\/li>\n<li><strong><a href=\"https:\/\/github.com\/hucebot\/huro\">huro<\/a><\/strong>: interfaces for Unitree robots.<\/li>\n<li><a href=\"https:\/\/github.com\/hucebot\/diffsqp\"><strong>diffsqp<\/strong><\/a>: batchable SQP solver in PyTorch.<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>OpenSoT: a library dedicated to hierarchical whole-body control of robots subject to linear constraints. AHMP: a framework for automatic contact and motion discovery. se3_sqp: SQP-based trajectory optimization for robots, built on HPIPM and Pinocchio. YAHMP: a humanoid general motion tracking policy for the Unitree G1 robot. huro: interfaces for Unitree robots. diffsqp: batchable SQP solver [&hellip;]<\/p>\n","protected":false},"author":235,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-295","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/pages\/295","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/users\/235"}],"replies":[{"embeddable":true,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/comments?post=295"}],"version-history":[{"count":7,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/pages\/295\/revisions"}],"predecessor-version":[{"id":460,"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/pages\/295\/revisions\/460"}],"wp:attachment":[{"href":"https:\/\/members.loria.fr\/EMingoHoffman\/wp-json\/wp\/v2\/media?parent=295"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}