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    31 repositories

    • guided-flow-policy

      Public
      Guided Flow Policy: Learning from High-Value Actions in Offline RL
      reinforcement-learningroboticsoffline-rl
      reinforcement-learningroboticsoffline-rl
      Python
      •
      MIT License
      •3•19•0•0•Updated Apr 21, 2026Apr 21, 2026

    • aligator

      Public
      A versatile and efficient C++ library for real-time constrained trajectory optimization
      C++
      •
      BSD 2-Clause "Simplified" License
      •45•293•15•1•Updated Apr 18, 2026Apr 18, 2026

    • LCQPow

      Public
      LCQPow - A Solver for Quadratic Programs with Linear Complementarity Constraints
      C++
      •
      GNU Lesser General Public License v2.1
      •11•1•1•0•Updated Apr 16, 2026Apr 16, 2026

    • simple-mpc

      Public
      C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
      C++
      •
      BSD 2-Clause "Simplified" License
      •9•44•6•0•Updated Apr 16, 2026Apr 16, 2026

    • candlewick

      Public
      A cross-platform real-time 3D renderer for robotics powered by SDL3-gpu
      visualizationc-plus-plusrobotics
      visualizationc-plus-plusroboticspinocchiosdl3
      C++
      •
      BSD 2-Clause "Simplified" License
      •7•39•9•1•Updated Apr 13, 2026Apr 13, 2026

    • LoIK

      Public
      Low-Complexity Inverse Kinematics
      C++
      •
      BSD 2-Clause "Simplified" License
      •9•106•3•1•Updated Apr 13, 2026Apr 13, 2026

    • pinocchio

      Public
      Inria fork of Pinocchio for fast developments and fixes
      C++
      •
      BSD 2-Clause "Simplified" License
      •529•14•0•0•Updated Apr 12, 2026Apr 12, 2026

    • proxsuite

      Public
      The Advanced Proximal Optimization Toolbox
      cpproboticsoptimization
      cpproboticsoptimizationlinear-programmingproximal-algorithmsquadratic-programmingeigen3
      C++
      •
      BSD 2-Clause "Simplified" License
      •73•553•15•2•Updated Apr 7, 2026Apr 7, 2026

    • nanoeigenpy

      Public
      A support library for bindings between Eigen in C++ and Python, based on nanobind
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •7•19•10•1•Updated Apr 2, 2026Apr 2, 2026

    • ksos-tools

      Public
      Implementation of the Kernel Sum-of-Squares optimization framework and various related solvers
      Python
      •
      BSD 2-Clause "Simplified" License
      •0•4•0•0•Updated Mar 12, 2026Mar 12, 2026

    • simple-robotics.github.io

      Public
      JavaScript
      •6•0•0•0•Updated Mar 9, 2026Mar 9, 2026

    • pycppad

      Public
      Python bindings for CppAD and CppADCodeGen using Boost.Python
      numpyautomatic-differentiationcppad
      numpyautomatic-differentiationcppadeigen3
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •8•25•1•0•Updated Jan 12, 2026Jan 12, 2026

    • Simple

      Public
      The Simple Simulator: Simulation Made Simple
      roboticssimulationbullet-physics
      roboticssimulationbullet-physicsdrakemujocopinocchiobullet3raisimisaac-gymbrax
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •14•221•1•0•Updated Jan 7, 2026Jan 7, 2026

    • code-analysis-tools

      Public
      Guidelines and notes about useful tools to analyze and optimize code
      10•44•0•1•Updated Nov 20, 2025Nov 20, 2025

    • tracy

      Public
      Frame profiler - a fork of https://github.com/wolfpld/tracy
      C++
      •
      Other
      •1.1k•4•0•0•Updated Nov 18, 2025Nov 18, 2025

    • pinocchio-rerun

      Public
      C++
      •6•22•0•0•Updated Nov 10, 2025Nov 10, 2025

    • pybind11-stubgen

      Public
      Generates stubs for python modules (targeted to C++ extensions compiled with pybind11)
      Python
      •
      Other
      •72•0•0•0•Updated Nov 4, 2025Nov 4, 2025

    • .github

      Public
      0•0•0•0•Updated Oct 23, 2025Oct 23, 2025

    • aligator-cmake-example-project

      Public template
      An example CMake project for using aligator
      CMake
      •0•2•0•0•Updated Oct 1, 2025Oct 1, 2025

    • proxsuite-nlp

      Public archive
      [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian solver for nonlinear progr…
      roboticsnonlinear-optimization
      roboticsnonlinear-optimization
      C++
      •
      BSD 2-Clause "Simplified" License
      •13•68•3•0•Updated Sep 26, 2025Sep 26, 2025

    • gym-simple

      Public
      Gymnasium wrapper for the Simple simulator
      Python
      •
      BSD 2-Clause "Simplified" License
      •0•12•0•0•Updated May 27, 2025May 27, 2025

    • pinocchio-visualizers

      Public archive
      A common interface and utilities for implementing visualizers for Pinocchio in C++.
      C++
      •4•10•0•0•Updated Feb 12, 2025Feb 12, 2025

    • cosypose

      Public
      Code for "CosyPose: Consistent multi-view multi-object 6D pose estimation", ECCV 2020.
      Python
      •
      MIT License
      •96•91•9•2•Updated Dec 29, 2024Dec 29, 2024

    • aligator-bench

      Public
      Python
      •1•4•0•0•Updated Dec 6, 2024Dec 6, 2024

    • workspace

      Public
      This project aggregate scripts and files to work on multiple Simple-Robotics project at once
      BSD 2-Clause "Simplified" License
      •2•2•0•1•Updated Jul 26, 2024Jul 26, 2024

    • ContactBench

      Public
      Benchmarking contact models and solvers from robotics simulators.
      C++
      •
      BSD 2-Clause "Simplified" License
      •2•48•2•0•Updated Jul 19, 2024Jul 19, 2024

    • meshcat-python

      Public
      WebGL-based 3D visualizer for Python
      Python
      •
      MIT License
      •72•0•0•0•Updated May 22, 2024May 22, 2024

    • meshcat

      Public
      Remotely-controllable 3D viewer, built on top of three.js
      HTML
      •
      MIT License
      •58•0•0•0•Updated May 22, 2024May 22, 2024

    • proxqp_benchmark

      Public
      QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES
      Python
      •
      Apache License 2.0
      •3•36•2•0•Updated Apr 11, 2023Apr 11, 2023

    • pin-meshcat-utils

      Public archive
      Tools for using Meshcat with Pinocchio. Temporary repo until modifications moved into Pinocchio itself.
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•1•1•0•Updated Jan 25, 2023Jan 25, 2023
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