πΒ A ranked list of awesome projects which use CasADi.
This curated list contains 72 awesome open-source projects with a total of 28K stars grouped into 6 categories. All projects are ranked by a project-quality score, which is calculated based on various metrics automatically collected from GitHub and different package managers.
π§ββοΈ Discover other best-of lists or create your own.
If you like to add or update projects, feel free to open an issue, submit a pull request, or directly edit the projects.yaml. For detailed info, please read the contribution guidelines. Contributions are very welcome!
- Directly related to CasADi 4 projects
- Solvers available in CasADi 13 projects
- Model Predictive Control 11 projects
- Machine Learning 7 projects
- Robotics 14 projects
- Articles Repos 4 projects
- Others 19 projects
- π₯π₯π₯Β Combined project-quality score
- βοΈΒ Star count from GitHub
- π£Β New project (less than 12 months old)
- π€Β Inactive project (12 months no activity)
- πΒ Dead project (24 months no activity)
- ππΒ Project is trending up or down
- βΒ Project was recently added
- π¨βπ»Β Contributors count from GitHub
- πΒ Fork count from GitHub
- πΒ Issue count from GitHub
- β±οΈΒ Last update timestamp on package manager
- π₯Β Download count from package manager
- π¦Β Number of dependent projects
List of projects related to the CasADi devs.
casadi (π₯23 Β· β 2K Β· π) - CasADi is a symbolic framework for numeric optimization.. LGPL-3.0
rockit (π₯15 Β· β 57) - Rockit (Rapid Optimal Control kit) is a software framework to quickly.. LGPL-3.0
CasADi.jl (π₯7 Β· β 27 Β· π) - Julia interface to CasADi via PyCall. MIT
-
GitHub (π¨βπ» 4 Β· π 9 Β· π 4 - 50% open Β· β±οΈ 01.12.2020):
git clone https://github.com/ichatzinikolaidis/CasADi.jl
Impact (π₯7 Β· β 7 Β· π) - Impact: A Toolchain for Nonlinear Model Predictive Control.. LGPL-3.0
List of solvers available in CasADi, excluding the paid solvers like Gurobi and SNOPT.
ProxQP (π₯27 Β· β 520 Β· π) - The Advanced Proximal Optimization Toolbox. BSD-2
-
GitHub (π¨βπ» 24 Β· π 64 Β· π₯ 37K Β· π¦ 73 Β· π 93 - 17% open Β· β±οΈ 24.11.2025):
git clone https://github.com/Simple-Robotics/proxsuite -
PyPi (π₯ 53K / month Β· π¦ 16 Β· β±οΈ 20.03.2025):
pip install proxsuite -
Conda (π₯ 1.1M Β· β±οΈ 04.09.2025):
conda install -c conda-forge proxsuite
SUNDIALS (π₯25 Β· β 610) - Official development repository for SUNDIALS - a SUite of Nonlinear and.. BSD-3
-
GitHub (π¨βπ» 47 Β· π 160 Β· π₯ 440K Β· π 240 - 13% open Β· β±οΈ 29.09.2025):
git clone https://github.com/LLNL/sundials
Clarabel (π₯21 Β· β 490 Β· π) - Clarabel.rs: Interior-point solver for convex conic optimisation.. Apache-2
MadNLP (π₯16 Β· β 230) - A solver for nonlinear programming with GPU support. MIT
-
GitHub (π¨βπ» 18 Β· π 20 Β· π 110 - 30% open Β· β±οΈ 26.11.2025):
git clone https://github.com/MadNLP/MadNLP.jl
qpOASES (π₯14 Β· β 500 Β· π) - Open-source C++ implementation of the recently proposed online.. LGPL-2.1
Fatrop (π₯14 Β· β 250) - Fatrop is a nonlinear optimal control problem solver that aims to be.. LGPL-3.0
HPIPM (π₯13 Β· β 660) - High-performance interior-point-method QP and QCQP solvers. Unlicensed
-
GitHub (π¨βπ» 27 Β· π 140 Β· π 98 - 43% open Β· β±οΈ 24.09.2025):
git clone https://github.com/giaf/hpipm
Bonmin (π₯10 Β· β 140 Β· π€) - Basic Open-source Nonlinear Mixed INteger programming. EPL-1.0
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GitHub (π¨βπ» 11 Β· π 23 Β· π 34 - 58% open Β· β±οΈ 29.09.2024):
git clone https://github.com/coin-or/Bonmin
Show 1 hidden projects...
- OOQP (π₯6 Β· β 81 Β· π) - Source repository for OOQP, a quadratic programming solver (and..
Unlicensed
List of projects related Model Predictive Control and Optimal Control in general.
acados (π₯22 Β· β 1.2K) - Fast and embedded solvers for nonlinear optimal control and.. Unlicensed
-
GitHub (π¨βπ» 96 Β· π 290 Β· π₯ 94 Β· π 370 - 13% open Β· β±οΈ 01.12.2025):
git clone https://github.com/acados/acados
HILO-MPC (π₯18 Β· β 190) - HILO-MPC is a Python toolbox for easy, flexible and fast development.. LGPL-3.0
OpTaS (π₯13 Β· β 140) - OpTaS: An optimization-based task specification library for trajectory.. Apache-2
MPOPT (π₯13 Β· β 63 Β· π€) - A pseudo-spectral collocation based multi-phase Optimal control.. LGPL-3.0
nosnoc (π₯12 Β· β 68) - nosnoc is an open-source MATLAB software package for NOnSmooth Numerical.. BSD-2
-
GitHub (π¨βπ» 3 Β· π 10 Β· π 55 - 50% open Β· β±οΈ 02.04.2025):
git clone https://github.com/nosnoc/nosnoc
CasADi_MPC_MHE_Python (π₯7 Β· β 170) - This repository is an implementation of the work from.. Unlicensed
-
GitHub (π¨βπ» 1 Β· π 38 Β· β±οΈ 19.03.2025):
git clone https://github.com/tomcattiger1230/CasADi_MPC_MHE_Python
MPCTools (π₯2) - MPCTools: Nonlinear Model Predictive Control Tools for.. GNU General Public License v3.0
- No project information available.
Show 3 hidden projects...
List of projects related to Machine Learning, Reinforcement Learning, Neural Networks, etc...
mpc-reinforcement-learning (π₯22 Β· β 590) - Reinforcement Learning with Model Predictive Control. MIT
l4casadi (π₯17 Β· β 520) - Use PyTorch Models with CasADi for data-driven optimization or learning-.. MIT
safe-control-gym (π₯15 Β· β 800) - PyBullet CartPole and Quadrotor environmentswith CasADi.. MIT
-
GitHub (π¨βπ» 20 Β· π 140 Β· π 69 - 23% open Β· β±οΈ 06.11.2025):
git clone https://github.com/utiasDSL/safe-control-gym
pc-gym (π₯13 Β· β 69) - Reinforcement learning environments for process control applications. MIT
jaxadi (π₯12 Β· β 170) - Transforms your CasADi functions into batchable JAX-compatible functions... MIT
leap-c (π₯11 Β· β 93 Β· π£) - Learning Predictive Control: A framework for integrating.. Unlicensed
-
GitHub (π¨βπ» 10 Β· π 25 Β· π 20 - 25% open Β· β±οΈ 01.12.2025):
git clone https://github.com/leap-c/leap-c
Show 1 hidden projects...
- casadi-neural-nets (π₯9 Β· β 11) - Neural Networks with CasADi.
MIT
List of projects applied to robotics.
pinocchio (π₯31 Β· β 2.9K) - A fast and flexible implementation of Rigid Body Dynamics algorithms.. BSD-2
-
GitHub (π¨βπ» 100 Β· π 450 Β· π₯ 80K Β· π 1.2K - 7% open Β· β±οΈ 01.12.2025):
git clone https://github.com/stack-of-tasks/pinocchio -
PyPi (π₯ 52K / month Β· π¦ 4 Β· β±οΈ 15.12.2021):
pip install pinocchio -
Conda (π₯ 2M Β· β±οΈ 22.09.2025):
conda install -c conda-forge pinocchio
AeroSandbox (π₯28 Β· β 1K) - Aircraft design optimization made fast through computational graph.. MIT
bioptim (π₯23 Β· β 110) - An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for.. MIT
adam (π₯22 Β· β 200) - adam implements a collection of algorithms for calculating rigid-body.. BSD-3
-
GitHub (π¨βπ» 11 Β· π 26 Β· π₯ 25 Β· π¦ 7 Β· π 51 - 27% open Β· β±οΈ 26.11.2025):
git clone https://github.com/ami-iit/adam -
PyPi (π₯ 2.9K / month Β· β±οΈ 15.10.2025):
pip install adam-robotics -
Conda (π₯ 1.8K Β· β±οΈ 20.10.2025):
conda install -c conda-forge adam-robotics-casadi
omg-tools (π₯16 Β· β 590 Β· π€) - Optimal Motion Generation-tools: motion planning made easy. LGPL-3.0
horizon (π₯5 Β· β 82) - an intuitive optimization tool tailored to robotics, based on CasADi. Unlicensed
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GitHub (π¨βπ» 5 Β· π 11 Β· π 14 - 92% open Β· β±οΈ 30.09.2025):
git clone https://github.com/ADVRHumanoids/horizon
Show 8 hidden projects...
- rbdl-orb (π₯12 Β· β 100 Β· π) - RBDL - Rigid Body Dynamics Library - ORB Version - The two..
Unlicensed - urdf2casadi (π₯11 Β· β 120 Β· π) - Python library for getting a casadi function for the forward..
MIT - OpenAP (π₯10 Β· β 35) - easy-peasy optimal flight trajectory.
LGPL-3.0 - biped_trajectory_optimization (π₯7 Β· β 86 Β· π) - Implementing trajectory optimization on bipedal system.
Unlicensed - TROPIC (π₯7 Β· β 56 Β· π) - TROPIC: TRajectory OPtimization In CasADi.
BSD-3 - 3dpredictsim (π₯7 Β· β 44 Β· π) - Generate 3D muscle-driven predictive simulations of human..
MIT - diff_uv (π₯5 Β· β 20) - A differentiable underwater vehicle dynamics.
AGPL-3.0 - quadrotor_mpc (π₯3 Β· β 57 Β· π) - The implement for the Quadrotor trajectory tracking..
Unlicensed
List of articles repositories implemented with CasADi.
Show 4 hidden projects...
- UKF-SNMPC (π₯6 Β· β 60 Β· π) - This repository contains the source code for Unscented Kalman filter..
MIT - mpc-DL-controller (π₯5 Β· β 92 Β· π) - Deep Neural Network architecture as a predictive..
Unlicensed - SDD-GP-MPC (π₯5 Β· β 66 Β· π) - This repository contains the source code for Stochastic data-driven..
MIT - differentiable_nmpc (π₯4 Β· β 30 Β· π£) - Differentiable Nonlinear Model Predictive Control.
Unlicensed
Pymoca (π₯19 Β· β 91) - A Modelica to computer algebra system translator written in python. BSD-3
liecasadi (π₯15 Β· β 86) - Rigid transform using Lie groups and Dual Quaternions, written in.. BSD-3
(Geometric) Fabrics (π₯14 Β· β 85) - Optimization fabrics for behavior design. GPL-3.0
car-racing (π₯10 Β· β 190 Β· π€) - A toolkit for testing control and planning algorithm for car racing. MIT
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GitHub (π¨βπ» 3 Β· π 36 Β· π 6 - 33% open Β· β±οΈ 19.04.2024):
git clone https://github.com/HybridRobotics/car-racing
mopeds (π₯5) - Simulate and Optimize (Parameter Estimation, Optimal Experimental Design) NLE, ODE.. MIT
- PyPi (π₯ 20 / month Β· β±οΈ 14.04.2025):
pip install mopeds
Show 11 hidden projects...
- Deltares RTC-Tools (π₯23 Β· β 10 Β· π) - RTC-Tools is an open-source platform for the..
LGPL-3.0 - matADi (π₯13 Β· β 31 Β· π) - Material Definition with Automatic Differentiation.
GPL-3.0 - openap-top (π₯10 Β· β 35) - easy-peasy optimal flight trajectory.
LGPL-3.0 - pydecomp (π₯10 Β· β 30) - A Python based implementation for fast convex decomposition of obstacle-..
MIT - spatial-casadi (π₯10 Β· β 17 Β· π€) - Spatial transformation library for CasADi Python.
LGPL-3.0 - CAMINO (π₯9 Β· β 28) - Python-CasADi-based package containing several algorithms for solving..
GPL-3.0 - casiopeia (π₯7 Β· β 37 Β· π) - Casadi Interface for Optimum experimental design and Parameter..
LGPL-3.0 - CaΞ£oS (π₯6 Β· β 16) - CaoS is a nonlinear optimization-oriented sum-of-squares toolbox based on..
GPL-3.0 - nlgreyfast (π₯5 Β· β 26 Β· π) - Toolbox for system identification of nonlinear state space..
AGPL-3.0 - pympc_panoc_ipopt (π₯4 Β· β 31 Β· π) - MPC pathtracking implementation with python, solved by..
MIT - paresto (π₯4 Β· β 3 Β· π€) - A parameter estimation tool for MATLAB/Octave based on CasADi.
Unlicensed
- Best-of lists: Discover other best-of lists with awesome open-source projects on all kinds of topics.
- Best-of Generator: Generates a ranked markdown list of awesome libraries and tools.
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The following options were changed from the default settings of the best-of-generator for a better ranking and inclusion of projects:
| Option | Value | Default |
|---|---|---|
project_new_months |
12 | 6 |
project_inactive_months |
12 | 6 |
project_dead_months |
24 | 12 |
min_stars |
50 | 100 |
min_projectrank |
5 | 10 |
First, to generate the list, you'll need a free API key from - Get an API key from libraries.io.
To generate the list locally, follow these steps:
- Install the environment with
uv sync - Run the script with
uv run best-of generate -l your_API_key_here ./projects.yaml
For now, it only worked on Linux/WSL. It might not work on Windows.
To generate the list with GitHub Actions, follow these steps:
- Go to the repository settings, then
Secrets and Variables>Actions. - Add a new repository secret with the name
LIBRARIES_KEYand your API key from libraries.io as the value. - Go to the
Actionstab of the repository. - Run the
update-best-of-listworkflow. A Pull Request will be generated after a few minutes. - Merge the Pull Request to update the list.
Check the License tab for more info.