SimpleRobotics

proxsuite

The Advanced Proximal Optimization Toolbox

aligator

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

Simple

The Simple Simulator: Simulation Made Simple

LoIK

Low-Complexity Inverse Kinematics

cosypose

Code for "CosyPose: Consistent multi-view multi-object 6D pose estimation", ECCV 2020.

proxsuite-nlp

[ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.

code-analysis-tools

Guidelines and notes about useful tools to analyze and optimize code

simple-mpc

C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver

ContactBench

Benchmarking contact models and solvers from robotics simulators.

candlewick

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

proxqp_benchmark

QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES

pinocchio-rerun

pycppad

Python bindings for CppAD and CppADCodeGen using Boost.Python

nanoeigenpy

A support library for bindings between Eigen in C++ and Python, based on nanobind

pinocchio

Inria fork of Pinocchio for fast developments and fixes

gym-simple

Gymnasium wrapper for the Simple simulator

pinocchio-visualizers

A common interface and utilities for implementing visualizers for Pinocchio in C++.

tracy

Frame profiler - a fork of https://github.com/wolfpld/tracy

aligator-bench

aligator-cmake-example-project

An example CMake project for using aligator

workspace

This project aggregate scripts and files to work on multiple Simple-Robotics project at once

pin-meshcat-utils

Tools for using Meshcat with Pinocchio. Temporary repo until modifications moved into Pinocchio itself.

.github

meshcat-python

WebGL-based 3D visualizer for Python

simple-robotics.github.io

veg

LCQPow

LCQPow - A Solver for Quadratic Programs with Linear Complementarity Constraints

meshcat

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

pybind11-stubgen

Generates stubs for python modules (targeted to C++ extensions compiled with pybind11)