Crocoddyl
- Software
- Humanoids and robot learning
- Library
Crocoddyl is an optimal control library for robots under contact sequences, using differential dynamic programming solvers to compute optimal trajectories and feedback gains.
Made by loco-3d.
Source on GitHub: github.com/loco-3d/crocoddyl (opens in a new tab). Facts read at commit babab49 (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit babab49 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Provides several optimal control solvers, including FDDP, OdynSQP, Intro and Ipopt.
- Computes analytical and sparse derivatives through Pinocchio for fast robot dynamics.
- Supports numerical and automatic differentiation (CppAD), plus various integrators, costs and constraints.
- Offers multi-threading via OpenMP and Python bindings built with Boost Python.
- Can generate C++ and Python code through CppADCoGen.
- Installable via AUR, conda, Nix, pip, robotpkg packages, ROS, or from source with CMake.
Written by Robotheca from the project's README (opens in a new tab) at commit babab49.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 13 Oct 2026 on devel
- Latest release
- Release v3.2.1 (10 May 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use 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.