[ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.
☆68Sep 26, 2025Updated 5 months ago
Alternatives and similar repositories for proxsuite-nlp
Users that are interested in proxsuite-nlp are comparing it to the libraries listed below
Sorting:
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆277Feb 19, 2026Updated last week
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆85Jan 20, 2026Updated last month
- Low-Complexity Inverse Kinematics☆102Updated this week
- The Advanced Proximal Optimization Toolbox☆544Feb 20, 2026Updated last week
- Frictional Contact Library of problems☆17Dec 1, 2025Updated 3 months ago
- A cross-platform real-time 3D renderer for robotics powered by SDL3-gpu☆37Updated this week
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Jan 12, 2026Updated last month
- Efficient bindings between Numpy and Eigen using Boost.Python☆202Updated this week
- Self-contained C++ interface for the MeshCat visualizer☆31Nov 8, 2023Updated 2 years ago
- ☆21Nov 10, 2025Updated 3 months ago
- Fast serializable C++ dictionaries☆14Dec 30, 2025Updated 2 months ago
- The Simple Simulator: Simulation Made Simple☆216Jan 7, 2026Updated last month
- A support library for bindings between Eigen in C++ and Python, based on nanobind☆19Feb 23, 2026Updated last week
- ☆326Jan 14, 2026Updated last month
- Collision detection benchmarks for the paper "Collision Detection Accelerated: An Optimization Perspective" published at RSS 2022☆30Jul 7, 2022Updated 3 years ago
- ☆19Feb 11, 2022Updated 4 years ago
- C++ implementation of ALTRO (Augmented Lagrangian TRajectory Optimizer)☆84Sep 8, 2023Updated 2 years ago
- Minimal project using Pinocchio as Rigid Body Dynamics library☆28Feb 13, 2026Updated 2 weeks ago
- Quadratic programming solver for Python, Julia, Matlab, C, C++ and Fortran.☆30Aug 30, 2025Updated 6 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 …☆260Feb 13, 2026Updated 2 weeks ago
- Model predictive control in Python based on quadratic programming☆50Nov 18, 2025Updated 3 months ago
- A Python-based Trajectory Optimization Framework☆22Oct 29, 2024Updated last year
- Differentiable QP solver in JAX☆132Oct 3, 2024Updated last year
- Set of robot URDFs for benchmarking and developed examples.☆256Updated this week
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21May 27, 2022Updated 3 years ago
- Rigid transform using Lie groups and Dual Quaternions, written in CasADi!☆88Jul 15, 2025Updated 7 months ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆118Sep 30, 2025Updated 5 months ago
- A Fast Solver for Constrained Trajectory Optimization☆87Aug 2, 2023Updated 2 years ago
- ☆14May 17, 2024Updated last year
- Python bindings for CppAD and CppADCodeGen using Boost.Python☆24Jan 12, 2026Updated last month
- Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio☆306Updated this week
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆212Updated this week
- iDynFor☆15Mar 14, 2024Updated last year
- A Proximal Interior Point Quadratic Programming solver☆134Feb 11, 2026Updated 2 weeks ago
- qpSWIFT is a light-weight sparse quadratic programming solver☆156Mar 24, 2023Updated 2 years ago
- Simple C++ abstraction layer for quadratic programming solvers using Eigen.☆35Jun 27, 2025Updated 8 months ago
- Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…☆176Feb 23, 2025Updated last year
- CMake utility toolbox☆73Updated this week
- C++ collision detection benchmark using HPP-FCL☆19Jul 3, 2023Updated 2 years ago