This code was used to generate the motions in the following publication [ pdf ]:

Winkler, A. W; Farshidian, F.; Pardo, D.; Neunert, M.; and Buchli, J.
"Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints"
In 2017 IEEE/RSJ Robotics and Automation Letters (RA-L)