an intuitive optimization tool tailored to robotics, based on CasADi
☆83Mar 3, 2026Updated 3 weeks ago
Alternatives and similar repositories for horizon
Users that are interested in horizon are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆118Sep 30, 2025Updated 5 months ago
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆212Updated this week
- ☆335Mar 17, 2026Updated last week
- Rigid transform using Lie groups and Dual Quaternions, written in CasADi!☆88Jul 15, 2025Updated 8 months ago
- ☆65Mar 16, 2026Updated last week
- The Simple Simulator: Simulation Made Simple☆218Jan 7, 2026Updated 2 months ago
- Suite of libraries for achieving bipedal locomotion on humanoid robots☆208Updated this week
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,180Mar 17, 2026Updated last week
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- iDynFor☆16Mar 14, 2024Updated 2 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Apr 7, 2025Updated 11 months ago
- An Open Source Task Solving library with Constraints☆125Jan 15, 2026Updated 2 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆151Sep 9, 2025Updated 6 months ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆50Updated this week
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Tools for exploiting Morphological Symmetries in robotics☆104Jan 8, 2026Updated 2 months ago
- Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve …☆264Mar 4, 2026Updated 2 weeks ago
- Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…☆178Feb 23, 2025Updated last year
- Python bindings for CppAD and CppADCodeGen using Boost.Python☆25Jan 12, 2026Updated 2 months ago
- ☆18Dec 6, 2023Updated 2 years ago
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆283Mar 12, 2026Updated last week
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆68Sep 26, 2025Updated 5 months ago
- RBDL - Rigid Body Dynamics Library☆12Jul 27, 2022Updated 3 years ago
- A distributed whole-body model predictive control for quadruped robots☆81Apr 22, 2025Updated 11 months ago
- TROPIC: TRajectory OPtimization In CasADi☆56May 16, 2021Updated 4 years ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆440Mar 10, 2026Updated 2 weeks ago
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆1,047Apr 17, 2023Updated 2 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Feb 29, 2024Updated 2 years ago
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆918Mar 17, 2026Updated last week
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆29Updated this week
- ☆27May 30, 2025Updated 9 months ago
- GPU-Accelerated Trajectory Optimization☆35Feb 26, 2026Updated 3 weeks ago
- A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems☆61Aug 31, 2025Updated 6 months ago
- Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusi…☆330Mar 27, 2025Updated 11 months ago
- eigen-qld allow to use the QLD QP solver with the Eigen3 library.☆17Mar 17, 2026Updated last week
- [IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275☆15Dec 29, 2022Updated 3 years ago
- C++ reimplementation of eiquadprog☆53Updated this week
- C++ interface for hpipm, a high-performance interior point MPC solver☆103Apr 21, 2023Updated 2 years ago
- Suite of parametrized controller with simulation environments for co-design of Humanoid Robots☆25Nov 3, 2025Updated 4 months ago