Aligator
- Software
- Robot arms and industry
- Library
Aligator is a C++ library with Python bindings for constrained trajectory optimization, used in robotics for motion planning, state estimation and model-predictive control.
Made by SimpleRobotics, France (checked on github.com/Simple-Robotics (opens in a new tab)).
Source on GitHub: github.com/Simple-Robotics/aligator (opens in a new tab). Facts read at commit 05f19ca (opens in a new tab).
Licenses
- Code
- BSD-2-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-2-Clause) at commit 05f19ca (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Provides a node-per-node modelling interface for optimal control problems.
- Implements the ProxDDP and FeasibleDDP solvers for constrained trajectory optimization.
- Offers several routines for factorizing the linear problems that arise in numerical optimal control.
- Supports the Pinocchio rigid-body dynamics library and its analytical derivatives.
- Includes an interface to the Crocoddyl trajectory optimization library as an alternative frontend.
- Exposes a Python API for prototyping formulations and deploying them.
Written by Robotheca from the project's README (opens in a new tab) at commit 05f19ca.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 2 Oct 2026 on main
- Latest release
- aligator v0.19.1 (28 Jul 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.