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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots

Home Page:https://ami-iit.github.io/bipedal-locomotion-framework/

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Support ProxQP OSQP to solve QPIK and TSID QP problems

traversaro opened this issue · comments

commented

It would be interesting to support the ProxQP solver (https://github.com/Simple-Robotics/proxsuite) when solving QP problems created by QPIK and TSID.

This would probably require:

  • Abstract existing calls to osqp-eigen under an abstraction layer (let's call it BLFQP)
  • Add support in BLFQP for ProxQP, either by directly writing the integration with ProxQP or by interfacing with an existing abstraction layer for QP programs, such as https://github.com/isri-aist/QpSolverCollection or CasADi .
commented

I think having an abstraction layer for the solvers is doable.

commented

For reference, the abstraction layer used in stack-of-tasks/tsid is https://github.com/stack-of-tasks/tsid/blob/v1.7.0/include/tsid/solvers/solver-HQP-base.hpp .

commented

Other recent QP solvers that report intersting performances on benchmarks: