Multi-Joint dynamics with Contact. A general purpose physics simulator.

A Python-embedded modeling language for convex optimization problems.

Model-based design and verification for robotics.

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

Robot-centric elevation mapping for rough terrain navigation

Linear optimization software

Optimal Control for Switched Systems

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

c++ cubic spline library

The Advanced Proximal Optimization Toolbox

Laikago working with ROS.

A ROS package achieves drone object tracking based on vision.

C++ interface for hpipm, a high-performance interior point MPC solver