diff --git a/trajopt_sco/include/trajopt_sco/osqp_interface.hpp b/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
index 49fb9902..d2d1b78f 100644
--- a/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
+++ b/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
@@ -60,17 +60,17 @@ class OSQPModel : public Model
   ConstraintTypeVector cnt_types_; /**< constraints types */
   DblVec solution_;                /**< optimizizer's solution for current model */
 
-  std::unique_ptr<csc> P_;               /**< Takes ownership of OSQPData.P to avoid having to deallocate manually */
-  std::unique_ptr<csc> A_;               /**< Takes ownership of OSQPData.A to avoid having to deallocate manually */
-  std::vector<c_int> P_row_indices_;     /**< row indices for P, CSC format */
-  std::vector<c_int> P_column_pointers_; /**< column pointers for P, CSC format */
-  DblVec P_csc_data_;                    /**< P values in CSC format */
-  Eigen::VectorXd q_;                    /**< linear part of the objective */
-
-  std::vector<c_int> A_row_indices_;     /**< row indices for constraint matrix, CSC format */
-  std::vector<c_int> A_column_pointers_; /**< column pointers for constraint matrix, CSC format */
-  DblVec A_csc_data_;                    /**< constraint matrix values in CSC format */
-  DblVec l_, u_;                         /**< linear constraints upper and lower limits */
+  std::unique_ptr<csc, decltype(&free)> P_;   /**< Takes ownership of OSQPData.P to avoid having to deallocate manually */
+  std::unique_ptr<csc, decltype(&free)> A_;   /**< Takes ownership of OSQPData.A to avoid having to deallocate manually */
+  std::vector<c_int> P_row_indices_;          /**< row indices for P, CSC format */
+  std::vector<c_int> P_column_pointers_;      /**< column pointers for P, CSC format */
+  DblVec P_csc_data_;                         /**< P values in CSC format */
+  Eigen::VectorXd q_;                         /**< linear part of the objective */
+
+  std::vector<c_int> A_row_indices_;          /**< row indices for constraint matrix, CSC format */
+  std::vector<c_int> A_column_pointers_;      /**< column pointers for constraint matrix, CSC format */
+  DblVec A_csc_data_;                         /**< constraint matrix values in CSC format */
+  DblVec l_, u_;                              /**< linear constraints upper and lower limits */
 
   QuadExpr objective_; /**< objective QuadExpr expression */
 
diff --git a/trajopt_sco/src/osqp_interface.cpp b/trajopt_sco/src/osqp_interface.cpp
index cdb7e6f3..b4f90203 100644
--- a/trajopt_sco/src/osqp_interface.cpp
+++ b/trajopt_sco/src/osqp_interface.cpp
@@ -36,7 +36,7 @@ Model::Ptr createOSQPModel(const ModelConfig::ConstPtr& config = nullptr)
   return std::make_shared<OSQPModel>(config);
 }
 
-OSQPModel::OSQPModel(const ModelConfig::ConstPtr& config) : P_(nullptr), A_(nullptr)
+OSQPModel::OSQPModel(const ModelConfig::ConstPtr& config) : P_(nullptr, free), A_(nullptr, free)
 {
   // tuning parameters to be less accurate, but add a polishing step
   if (config != nullptr)