</p> ## Introduction **[Crocoddyl](https://cmastalli.github.io/publications/crocoddyl20icra.html)** is an optimal control library for robot control under contact sequence. Its solvers are based on novel and efficient differential dynamic programming (DDP) algorithms. **Crocoddyl** computes optimal trajectories and feedback gains. It uses **[Pinocchio](https://github.com/stack-of-tasks/pinocchio)** for fast computation of robot dynamics and analytical derivatives. If you want to learn more about **Crocoddyl** and its solvers, we suggest reading [[1]](#1) [[2]](#2) [[3]](#3) and visiting [PUBLICATIONS.md](https://github.com/loco-3d/crocoddyl/blob/master/PUBLICATIONS.md). If you want to follow the current developments and contribute, please directly refer to the [devel branch](https://github.com/loco-3d/cddp/tree/devel). ## :crocodile: Crocoddyl features

**Crocoddyl** is versatile: * Various optimal control solvers (DDP, FDDP, BoxFDDP, Ipopt, etc) * Analytical and sparse derivatives via **[Pinocchio](https://github.com/stack-of-tasks/pinocchio)** * Differential geometry support leveraging **[Pinocchio](https://github.com/stack-of-tasks/pinocchio)** * Various integrators, dynamics, costs and constraints * Numerical differentiation support * Automatic differentiation support via **[CppAD](https://github.com/coin-or/CppAD)** **Crocoddyl** is efficient and flexible: * Cache friendly * Multi-threading support via **[OpenMP](https://www.openmp.org/)** * Python bindings (including abstractions) via **[Boost Python](https://wiki.python.org/moin/boost.python)** * C++11/14/17/20 compliant * Extensively tested * Code generation in both C++ and Python via **[CppADCoGen](https://github.com/joaoleal/CppADCodeGen)** ## :penguin: Installation **Crocoddyl** can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Below, there are different ways to install Crocoddyl. ### On ArchLinux With your favorite AUR helper, eg. paru: ```bash paru -Syu crocoddyl ``` ### :dragon: From Just run the following command in the terminal: ```bash conda install crocoddyl -c conda-forge ``` Conda installation supports [](https://anaconda.org/conda-forge/crocoddyl). ### From Nix `crocoddyl` & `python3Packages.crocoddyl` are available in [nixpkgs](https://github.com/NixOS/nixpkgs/). This repository is also a flake, so you may: - run a python shell with crocoddyl: `nix run github:loco-3d/crocoddyl` - use it in your own flake: `crocoddyl.url = "github:loco-3d/crocoddyl";` The build cache use by CI and developers is [gepetto.cachix.org](https://app.cachix.org/cache/gepetto) ### :snake: From Just run the following command in the terminal: ```bash pip install --user crocoddyl ``` ### :turtle: With ROS Just clone it (with `--recursive`) into a catkin workspace and compile it. ### :package: From Debian / Ubuntu packages, with [robotpkg](http://robotpkg.openrobots.org) 1. If you have never added robotpkg's software repository, [do it now](http://robotpkg.openrobots.org/debian.html): ```bash sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg EOF File truncated at 100 lines [see the full file](https://github.com/loco-3d/crocoddyl/tree/devel/./README.md)

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

[Unreleased]

[3.2.0] - 2025-12-09

• Introduced the actuation limits to handle thrusters and general action models in https://github.com/loco-3d/crocoddyl/pull/1455
• Introduced safe difference and integration functions for states in https://github.com/loco-3d/crocoddyl/pull/1448
• ROS: jrl_cmakemodules dependency + kilted CI in https://github.com/loco-3d/crocoddyl/pull/1441

[3.1.0] - 2025-10-02

• Allow use of BUILD_STANDALONE_PYTHON_INTERFACE CMake option in https://github.com/loco-3d/crocoddyl/pull/1434
• Migrated notebooks to Meshcat in https://github.com/loco-3d/crocoddyl/pull/1404
• Updated the rotation transpose in contact wrench cone to re-use the same object to avoid additional transpose operations. https://github.com/loco-3d/crocoddyl/pull/1343
• Switched to a multiply operation instead of divide for efficiency. https://github.com/loco-3d/crocoddyl/pull/1343
• Fix Python bindings of action getters in https://github.com/loco-3d/crocoddyl/pull/1374
• Created independent Python modules associated to each scalar in https://github.com/loco-3d/crocoddyl/pull/1372
• Introduced CodeGen and AutoDiff in Python + pre-compiled headers in https://github.com/loco-3d/crocoddyl/pull/1370
• Introduced explicit template instantiation in https://github.com/loco-3d/crocoddyl/pull/1367
• Fixed error message building crocoddyl.launch crocoddyl.rviz as Python files in https://github.com/loco-3d/crocoddyl/pull/1369
• Created Python bindings for (diff)-action getters in https://github.com/loco-3d/crocoddyl/pull/1362
• Enabled casting and multi-scalar Python bindings in https://github.com/loco-3d/crocoddyl/pull/1346
• Compute LU decomposition using permutationP in https://github.com/loco-3d/crocoddyl/pull/1351
• Force DifferentialActionDataContactInvDynamics to update df_du for all contacts in https://github.com/loco-3d/crocoddyl/pull/1348
• Add a nix shortcut start jupyter lab, with eg. `nix run .#jupyter in https://github.com/loco-3d/crocoddyl/pull/1396

[3.0.1] - 2025-03-21

• Add install version in https://github.com/loco-3d/crocoddyl/pull/1355
• Removed absolute path for boost library in https://github.com/loco-3d/crocoddyl/pull/1353
• Fixed checking of positive semi-define condition in LQR problems in https://github.com/loco-3d/crocoddyl/pull/1352

[3.0.0] - 2025-03-19

• :warning: BREAKING: replaced boost shared pointers by std ones in https://github.com/loco-3d/crocoddyl/pull/1339
• :warning: BREAKING: require pinocchio >= 3.4.0

[2.2.0] - 2025-02-10

• Changed return policy in std::vector of Eigen’s vector and matrices to be compliant with Pinocchio in https://github.com/loco-3d/crocoddyl/pull/1338
• Prevent users to improperly setting residual references in https://github.com/loco-3d/crocoddyl/pull/1332
• Fixed the inequality constraints’ feasibility computation by incorporating bounds into the calculation in https://github.com/loco-3d/crocoddyl/pull/1307
• Improved the action factory used for unit testing in https://github.com/loco-3d/crocoddyl/pull/1300
• Ignore ruff issues in ipython notebook files in https://github.com/loco-3d/crocoddyl/pull/1297
• Improved efficiency for computing impulse-dynamics derivatives in https://github.com/loco-3d/crocoddyl/pull/1294
• Fixed bug of wrench cone fields not being updated with setters in https://github.com/loco-3d/crocoddyl/pull/1274
• Replaced parent by parentJoint (which was introduced in Pinocchio 3) in https://github.com/loco-3d/crocoddyl/pull/1271
• Introduced the notion of terminal dimension, residuals and constraints in https://github.com/loco-3d/crocoddyl/pull/1269
• General clean ups about std::size_t in https://github.com/loco-3d/crocoddyl/pull/1265
• Fixed issues in LQR extensions in https://github.com/loco-3d/crocoddyl/pull/1263
• Computed dynamic feasibility everytime in https://github.com/loco-3d/crocoddyl/pull/1262
• Extend LQR actions in https://github.com/loco-3d/crocoddyl/pull/1261
• Print log with grad absolute + updated logs with Pinocchio 3 in https://github.com/loco-3d/crocoddyl/pull/1260

[2.1.0] - 2024-05-31

• Updated black + isort + flake8 to ruff in https://github.com/loco-3d/crocoddyl/pull/1256
• Exported version for Python in https://github.com/loco-3d/crocoddyl/pull/1254
• Added pinocchio 3 preliminary support in https://github.com/loco-3d/crocoddyl/pull/1253
• Updated CMake packaging in https://github.com/loco-3d/crocoddyl/pull/1249
• Fixed ruff reported error in https://github.com/loco-3d/crocoddyl/pull/1248
• Fixed yapf reported errors in https://github.com/loco-3d/crocoddyl/pull/1238
• Tested Python stubs in Conda CI in https://github.com/loco-3d/crocoddyl/pull/1228
• Fixed Rviz display in https://github.com/loco-3d/crocoddyl/pull/1227
• Improved CI, updated cmake and fixed launch file in https://github.com/loco-3d/crocoddyl/pull/1220
• Introduced a Rviz display in https://github.com/loco-3d/crocoddyl/pull/1216
• Enabled display of thrust and simplied displayers code in https://github.com/loco-3d/crocoddyl/pull/1215
• Introduced floating base thruster actuation model in https://github.com/loco-3d/crocoddyl/pull/1213
• Fixed quadruped and biped examples in https://github.com/loco-3d/crocoddyl/pull/1208
• Fixed terminal computation in Python models in https://github.com/loco-3d/crocoddyl/pull/1204
• Fixed handling of unbounded values for ActivationBounds in https://github.com/loco-3d/crocoddyl/pull/1191

[2.0.2] - 2023-12-07

• Added nu, ng, and nh setters for Python bindings in https://github.com/loco-3d/crocoddyl/pull/1192
• Added CHANGELOG.md in https://github.com/loco-3d/crocoddyl/pull/1188
• Supported nu==0 in actuation models in https://github.com/loco-3d/crocoddyl/pull/1188
• Included Python bindings for Crocoddyl exceptions by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1186
• Updated cmake submodule update by @jcarpentier in https://github.com/loco-3d/crocoddyl/pull/1186
• Fixed getters for contraints bounds by skleff1994 in https://github.com/loco-3d/crocoddyl/pull/1180
• Extended solver abstract and callbacks for arbitrary solvers by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1179
• Fixed the check of pair_id in collision residual by @ArthurH91 in https://github.com/loco-3d/crocoddyl/pull/1178
• Exploited control-residual structure when computing Lu, Luu by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1176
• Added LWA fram convention and introduced different axis for 1d contacts by @skleff1994 in https://github.com/loco-3d/crocoddyl/pull/1172
• Python bindings for setting control bounds by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1171
• Fixed missed scalar in cost sum and activation data by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1165
• Added actuation unit tests by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1161
• Introduced method for obtaining the dimension of floating-bases by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1160
• Fixed set_reference in state residual by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1158
• Enabled CONDA CI jobs with CppADCodeGen by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1156
• Added other CI jobs by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1152
• Fixed compiltation issue when building with CppADCodeGen by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1151
• Fixed include order used in frames.cpp by @ManifoldFR in https://github.com/loco-3d/crocoddyl/pull/1150

[2.0.1] - 2023-06-17

File truncated at 100 lines see the full file