Issues

• [Bug]: mpc-cycle test is deactivated while eigen5 support is not merged in pinocchio

  Simple-Robotics/aligator#410 · Filter by author j-matheron opened on Jun 23, 2026

• [Bug]: test-mpc.py is deactivated until timeout is fixed

  Simple-Robotics/aligator#409 · Filter by author j-matheron opened on Jun 23, 2026

• pin4: Fix test for aligator.underactuatedConstrainedInverseDynamics()

  bug
  Simple-Robotics/aligator#402 · Filter by author ManifoldFR opened on Apr 15, 2026

• aligator-test-py-mpc randomly hang on Ubuntu 22.04

  bug
  Bug

  Simple-Robotics/aligator#399 · Filter by author jorisv opened on Feb 23, 2026
  3

• ArenaMatrix not exposed to Python

  Simple-Robotics/aligator#381 · Filter by author pierfabre opened on Dec 2, 2025
  1

  

• Adding the possibility to activate and deactivate constraints at will

  Simple-Robotics/aligator#374 · Filter by author edantec opened on Nov 12, 2025
  

• Windows Support

  Simple-Robotics/aligator#371 · Filter by author ahoarau opened on Nov 5, 2025
  1

• Finally get rid of shared_ptr

  api
  Simple-Robotics/aligator#225 · Filter by author ManifoldFR opened on Oct 5, 2024

• A computation graph for OCPs.

  api
  Simple-Robotics/aligator#208 · Filter by author ManifoldFR opened on Sep 19, 2024 · aligator 1.0
  1

• Possibility of creating novel spaces/manifolds in python

  api
  Simple-Robotics/aligator#311 · Filter by author costashatz opened on Sep 11, 2024 · aligator 1.0
  3

• Even higher-order finite differences

  Simple-Robotics/aligator#129 · Filter by author ManifoldFR opened on Feb 13, 2024
  1

  

• Validate function size before running the solver

  api
  Simple-Robotics/aligator#117 · Filter by author jorisv opened on Jan 16, 2024
  2

  

• Parametric problems and differentiability

  api
  Simple-Robotics/aligator#80 · Filter by author ManifoldFR opened on Nov 7, 2023 · aligator 1.0
  1

  

• Sharing data between costs, constraints, dynamics

  api
  Simple-Robotics/aligator#79 · Filter by author ManifoldFR opened on Nov 7, 2023 · aligator 1.0
  1

  

• RFC: Redesign integrators to integrate both dynamics and costs

  api
  Simple-Robotics/aligator#54 · Filter by author ManifoldFR opened on Mar 16, 2023 · aligator 1.0

• Terminal cost necessary in TrajOptProblem?

  question
  Simple-Robotics/aligator#44 · Filter by author stephane-caron opened on Feb 27, 2023 · aligator 1.0
  5

• Add checks in SemiImplicitEuler

  Simple-Robotics/aligator#17 · Filter by author fabinsch opened on Jul 26, 2022
  3