Repositories list

• proxsuite

  Public
  The Advanced Proximal Optimization Toolbox

  cpproboticsoptimization+ 4

  cpproboticsoptimizationlinear-programmingproximal-algorithmsquadratic-programmingeigen3

  C++

  •

  BSD 2-Clause "Simplified" License

  •72•546•16•4•Updated Mar 2, 2026Mar 2, 2026

• aligator

  Public
  A versatile and efficient C++ library for real-time constrained trajectory optimization

  C++

  •

  BSD 2-Clause "Simplified" License

  •45•281•14•3•Updated Mar 1, 2026Mar 1, 2026

• LoIK

  Public
  Low-Complexity Inverse Kinematics

  C++

  •

  BSD 2-Clause "Simplified" License

  •9•102•3•2•Updated Mar 1, 2026Mar 1, 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•2•Updated Mar 1, 2026Mar 1, 2026

• candlewick

  Public
  A cross-platform real-time 3D renderer for robotics powered by SDL3-gpu

  visualizationc-plus-plusrobotics+ 2

  visualizationc-plus-plusroboticspinocchiosdl3

  C++

  •

  BSD 2-Clause "Simplified" License

  •6•38•9•0•Updated Mar 1, 2026Mar 1, 2026

• pinocchio

  Public
  Inria fork of Pinocchio for fast developments and fixes

  C++

  •

  BSD 2-Clause "Simplified" License

  •503•13•0•3•Updated Jan 13, 2026Jan 13, 2026

• pycppad

  Public

  Simple-Robotics/pycppad’s past year of commit activity
  Python bindings for CppAD and CppADCodeGen using Boost.Python

  numpyautomatic-differentiationcppad+ 1

  numpyautomatic-differentiationcppadeigen3

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •8•24•1•0•Updated Jan 12, 2026Jan 12, 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

  •8•44•6•0•Updated Jan 12, 2026Jan 12, 2026

• Simple

  Public
  The Simple Simulator: Simulation Made Simple

  roboticssimulationbullet-physics+ 7

  roboticssimulationbullet-physicsdrakemujocopinocchiobullet3raisimisaac-gymbrax

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •13•216•1•0•Updated Jan 7, 2026Jan 7, 2026

• ksos-tools

  Public
  Implementation of the Kernel Sum-of-Squares optimization framework and various related solvers

  Python

  •

  BSD 2-Clause "Simplified" License

  •0•2•0•1•Updated Jan 2, 2026Jan 2, 2026

• guided-flow-policy

  Public
  Guided Flow Policy: Learning from High-Value Actions in Offline RL

  reinforcement-learningroboticsoffline-rl

  reinforcement-learningroboticsoffline-rl

  0•9•1•0•Updated Dec 5, 2025Dec 5, 2025

• simple-robotics.github.io

  Public
  JavaScript

  •6•0•0•0•Updated Dec 4, 2025Dec 4, 2025

• 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

  •1k•4•0•0•Updated Nov 18, 2025Nov 18, 2025

• pinocchio-rerun

  Public
  C++

  •6•21•0•0•Updated Nov 10, 2025Nov 10, 2025

• LCQPow

  Public
  LCQPow - A Solver for Quadratic Programs with Linear Complementarity Constraints

  C++

  •

  GNU Lesser General Public License v2.1

  •10•0•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

  •65•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

  •97•91•9•2•Updated Dec 29, 2024Dec 29, 2024

• aligator-bench

  Public
  Python

  •1•3•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•45•2•0•Updated Jul 19, 2024Jul 19, 2024

• meshcat-python

  Public
  WebGL-based 3D visualizer for Python

  Python

  •

  MIT License

  •70•0•0•0•Updated May 22, 2024May 22, 2024

• meshcat

  Public
  Remotely-controllable 3D viewer, built on top of three.js

  HTML

  •

  MIT License

  •57•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•33•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