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    29 repositories

    • LoIK

      Public
      Low-Complexity Inverse Kinematics
      C++
      •
      BSD 2-Clause "Simplified" License
      •8•96•3•2•Updated Dec 1, 2025Dec 1, 2025

    • aligator

      Public
      A versatile and efficient C++ library for real-time constrained trajectory optimization
      C++
      •
      BSD 2-Clause "Simplified" License
      •38•269•12•1•Updated Dec 1, 2025Dec 1, 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
      •3•35•8•0•Updated Dec 1, 2025Dec 1, 2025

    • simple-mpc

      Public
      C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
      C++
      •
      BSD 2-Clause "Simplified" License
      •6•42•6•0•Updated Nov 28, 2025Nov 28, 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
      •6•17•10•0•Updated Nov 25, 2025Nov 25, 2025

    • proxsuite

      Public
      The Advanced Proximal Optimization Toolbox
      cpproboticsoptimizationlinear-programmingproximal-algorithmsquadratic-programmingeigen3
      C++
      •
      BSD 2-Clause "Simplified" License
      •67•520•16•3•Updated Nov 24, 2025Nov 24, 2025

    • code-analysis-tools

      Public
      Guidelines and notes about useful tools to analyze and optimize code
      10•43•0•1•Updated Nov 20, 2025Nov 20, 2025

    • tracy

      Public
      Frame profiler - a fork of https://github.com/wolfpld/tracy
      C++
      •
      Other
      •948•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
      •8•0•0•0•Updated Nov 10, 2025Nov 10, 2025

    • pinocchio

      Public
      Inria fork of Pinocchio for fast developments and fixes
      C++
      •
      BSD 2-Clause "Simplified" License
      •483•13•0•4•Updated Nov 5, 2025Nov 5, 2025

    • pybind11-stubgen

      Public
      Generates stubs for python modules (targeted to C++ extensions compiled with pybind11)
      Python
      •
      Other
      •64•0•0•0•Updated Nov 4, 2025Nov 4, 2025

    • pycppad

      Public
      Python bindings for CppAD and CppADCodeGen using Boost.Python
      numpyautomatic-differentiationcppadeigen3
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •7•23•1•0•Updated Oct 30, 2025Oct 30, 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 programming on manifolds.
      roboticsnonlinear-optimization
      C++
      •
      BSD 2-Clause "Simplified" License
      •13•67•3•0•Updated Sep 26, 2025Sep 26, 2025

    • Simple

      Public
      The Simple Simulator: Simulation Made Simple
      roboticssimulationbullet-physicsdrakemujocopinocchiobullet3raisimisaac-gymbrax
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •8•208•1•0•Updated Jun 4, 2025Jun 4, 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

    • simple-robotics.github.io

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

    • pinocchio-visualizers

      Public archive
      A common interface and utilities for implementing visualizers for Pinocchio in C++.
      C++
      •3•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
      •94•88•9•2•Updated Dec 29, 2024Dec 29, 2024

    • aligator-bench

      Public
      Python
      •0•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•38•2•0•Updated Jul 19, 2024Jul 19, 2024

    • meshcat-python

      Public
      WebGL-based 3D visualizer for Python
      Python
      •
      MIT License
      •69•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
      •3•31•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