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    27 repositories

    • simple-mpc

      Public
      C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
      C++
      •
      BSD 2-Clause "Simplified" License
      •5•42•6•2•Updated Aug 22, 2025Aug 22, 2025

    • candlewick

      Public
      A cross-platform real-time 3D renderer for robotics powered by SDL3-gpu
      visualizationc-plus-plusroboticspinocchiosdl3
      C++
      •
      BSD 2-Clause "Simplified" License
      •2•32•9•0•Updated Aug 20, 2025Aug 20, 2025

    • aligator

      Public
      A versatile and efficient C++ library for real-time constrained trajectory optimization
      C++
      •
      BSD 2-Clause "Simplified" License
      •29•245•14•1•Updated Aug 19, 2025Aug 19, 2025

    • pinocchio-rerun

      Public
      C++
      •6•19•0•1•Updated Aug 18, 2025Aug 18, 2025

    • tracy

      Public
      Frame profiler - a fork of https://github.com/wolfpld/tracy
      C++
      •
      Other
      •853•4•0•0•Updated Aug 18, 2025Aug 18, 2025

    • nanoeigenpy

      Public
      A support library for bindings between Eigen in C++ and Python, based on nanobind
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •5•14•9•1•Updated Aug 6, 2025Aug 6, 2025

    • pinocchio

      Public
      Inria fork of Pinocchio for fast developments and fixes
      C++
      •
      BSD 2-Clause "Simplified" License
      •457•12•0•4•Updated Aug 5, 2025Aug 5, 2025

    • proxsuite

      Public
      The Advanced Proximal Optimization Toolbox
      cpproboticsoptimizationlinear-programmingproximal-algorithmsquadratic-programmingeigen3
      C++
      •
      BSD 2-Clause "Simplified" License
      •63•487•16•2•Updated Aug 4, 2025Aug 4, 2025

    • LoIK

      Public
      Low-Complexity Inverse Kinematics
      C++
      •
      BSD 2-Clause "Simplified" License
      •7•82•3•1•Updated Jul 8, 2025Jul 8, 2025

    • Simple

      Public
      The Simple Simulator: Simulation Made Simple
      roboticssimulationbullet-physicsdrakemujocopinocchiobullet3raisimisaac-gymbrax
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •6•179•1•0•Updated Jun 4, 2025Jun 4, 2025

    • pycppad

      Public
      Python bindings for CppAD and CppADCodeGen using Boost.Python
      numpyautomatic-differentiationcppadeigen3
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •6•20•1•0•Updated Jun 2, 2025Jun 2, 2025

    • proxsuite-nlp

      Public archive
      A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.
      roboticsnonlinear-optimization
      C++
      •
      BSD 2-Clause "Simplified" License
      •13•69•3•0•Updated Jun 2, 2025Jun 2, 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

    • aligator-cmake-example-project

      Public template
      An example CMake project for using aligator
      CMake
      •0•2•0•0•Updated May 12, 2025May 12, 2025

    • simple-robotics.github.io

      Public
      JavaScript
      •6•0•0•0•Updated Apr 23, 2025Apr 23, 2025

    • code-analysis-tools

      Public
      Guidelines and notes about useful tools to analyze and optimize code
      7•38•0•0•Updated Apr 2, 2025Apr 2, 2025

    • pinocchio-visualizers

      Public archive
      A common interface and utilities for implementing visualizers for Pinocchio in C++.
      C++
      •3•9•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
      •94•84•9•2•Updated Dec 29, 2024Dec 29, 2024

    • aligator-bench

      Public
      Python
      •0•3•0•0•Updated Dec 6, 2024Dec 6, 2024

    • .github

      Public
      0•0•0•0•Updated Nov 4, 2024Nov 4, 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•36•2•0•Updated Jul 19, 2024Jul 19, 2024

    • meshcat-python

      Public
      WebGL-based 3D visualizer for Python
      Python
      •
      MIT License
      •68•0•0•0•Updated May 22, 2024May 22, 2024

    • meshcat

      Public
      Remotely-controllable 3D viewer, built on top of three.js
      HTML
      •
      MIT License
      •54•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
      •4•30•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

    • veg

      Public
      C++
      •
      MIT License
      •3•0•0•0•Updated May 3, 2022May 3, 2022