Alessandro Sofia

every-programmer-should-know. A collection of (mostly) technical things every software developer should know about

lietorch. Cuda

ponytail. Makes your AI agent think like the laziest senior dev in the room. The best code is the code you never wrote.

frax. Fast Robot Kinematics and Dynamics in JAX

oscbf. Safe, high-performance, and task-consistent manipulator control

sam3.cpp. Fast state-of-the-art image and video segmentation in portable C/C++

robotics-agent-skills. Agent skills that make AI coding assistants write production-grade robotics software. ROS1, ROS2, design patterns, SOLID principles, and testing — for Claude Code, Cursor, Copilot, and any SKILL.md-compatible agent.

RoboJuDo. A plug-and-play deploy framework for robots. Just deploy, just do.

concept-graphs. Official code release for ConceptGraphs

MPPI-Generic. Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)

TRELLIS.2. Native and Compact Structured Latents for 3D Generation

chrono. High-performance C++ library for multiphysics and multibody dynamics simulations

TraceAnything. [ICLR 2026] Trace Anything: Representing Any Video in 4D via Trajectory Fields

teleoperation. A.K.A. Fourier Advanced Robot Teleoperation System (F.A.R.T.S.) 💨

x2cli. A template to kickstart creating Python3 cli tools

wandb. The AI developer platform. Use Weights & Biases to train and fine-tune models, and manage models from experimentation to production.

AMGX. Distributed multigrid linear solver library on GPU

isaac_manager. Isaac Made Easy

highway. Performance-portable, length-agnostic SIMD with runtime dispatch

GenTact. Functional artificial skin for any robot!

emscripten. Emscripten: An LLVM-to-WebAssembly Compiler

IsaacSim. NVIDIA Isaac Sim™ is an open-source application on NVIDIA Omniverse for developing, simulating, and testing AI-driven robots in realistic virtual environments.

warp. A Python framework for GPU-accelerated simulation, robotics, and machine learning.

newton. An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

csdecomp. CSDecomp implements GPU-accelerated collision checking for generating approximate convex decompositions of robot configuration space.

rpc. A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, planning and control modules, visualization tools, plotting and logging utilities, and operator interfaces for robotic systems.

fcpw. fast distance and ray intersection queries

meshcat. Remotely-controllable 3D viewer, built on top of three.js

gepetto-viewer. Graphical Interface for Pinocchio and HPP.

protobuf. Protocol Buffers - Google's data interchange format

crocoddyl. Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

pinocchio. A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

PyPnC. Python Implementation of Planning and Control

rpc. A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, planning and control modules, visualization tools, plotting and logging utilities, and operator interfaces for robotic systems.

mujoco_menagerie. A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

RTCollisionDetection. Ray-tracing collision detection library

libccd. Library for collision detection between two convex shapes

qpOASES. Open-source C++ implementation of the recently proposed online active set strategy

oha. Ohayou(おはよう), HTTP load generator, inspired by rakyll/hey with tui animation.

indicators. Activity Indicators for Modern C++

ecat_control_ws. EtherCAT Master-Slave control source (TCP/IP haptic Node, ROS2)

lidar_camera_calibration. ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

orbit. C/C++ Performance Profiler

build-your-own-x. Master programming by recreating your favorite technologies from scratch.

meshoptimizer. Mesh optimization library that makes meshes smaller and faster to render

awesome-micro-ros-projects. A list of awesome micro-ROS projects

blasfeo. Basic linear algebra subroutines for embedded optimization

ImHex. 🔍 A Hex Editor for Reverse Engineers, Programmers and people who value their retinas when working at 3 AM.

rosx_introspection. Deserialize any ROS message, without compilation time information.

docker-for-robotics. Collection of best practices for working with Docker/Docker-Compose and the Robot Operating System (ROS/ROS 2) in simulation as well as with hardware and real-time requirements

Bend. A massively parallel, high-level programming language

IsaacGymEnvs-DIY-Robots. IsaacGym envs for a two wheeled inverted pendulum robot (TWIP) and a flywheel inverted pendulum robot

fcl. Flexible Collision Library

dart. Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings

awesome-graphics-libraries. :sunglasses: A curated list of 3D graphics libraries and resources

reachability_tools. Reachability tools in ROS2

CPP_Optimizations_Diary. Tips and tricks to optimize your C++ code

r4cppp. Rust for C++ programmers

book_ros2. C++