This code is accompanying the IROS 2022 submission on Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation.

This repository contains only the working directory with methods specific to the concrete experiments in this paper. The https://github.com/MarcToussaint/botop repository contains the actual code base, including the general SecMPC implementation (in src/BotOp/SecMPC). Please install botop in a folder next to this repository.