Repositories list

• ihmc-open-robotics-software

  Public
  Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.

  javaroboticswhole-body-control+ 3walkinghumanoid-robotihmc

  Java

  •95•266•0•39•Updated Feb 23, 2025Feb 23, 2025

• ihmc-convex-optimization

  Public
  Library for convex optimization, more especially Quadratic Programming

  Java

  •

  Apache License 2.0

  •0•1•0•0•Updated Feb 22, 2025Feb 22, 2025

• valkyrie

  Public
  IHMC Controller and simulation environment for the NASA Valkyrie humanoid robot

  Java

  •

  Apache License 2.0

  •0•3•2•3•Updated Feb 20, 2025Feb 20, 2025

• simulation-construction-set-2

  Public
  Graphical user interface for visualizing control variables from either a server, a log file, or a simulation.

  roboticssimulationdata-visualization+ 1humanoid-robot

  Java

  •

  Apache License 2.0

  •0•13•72•1•Updated Feb 20, 2025Feb 20, 2025

• ihmc-robotics-tools

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•2•Updated Feb 20, 2025Feb 20, 2025

• crocoddyl

  Public
  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

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •185•0•0•2•Updated Feb 20, 2025Feb 20, 2025

• ihmc-robot-data-logger

  Public
  Java

  •

  Apache License 2.0

  •1•4•3•1•Updated Feb 20, 2025Feb 20, 2025

• ihmc-ros2-library

  Public
  ROS2-compatible communication library in Java, uses Fast-DDS

  Java

  •

  Apache License 2.0

  •7•24•7•2•Updated Feb 18, 2025Feb 18, 2025

• ihmc-actions

  Public
  Reusable GitHub actions & workflows for ihmcrobotics projects

  Apache License 2.0

  •0•0•0•0•Updated Feb 12, 2025Feb 12, 2025

• simulation-construction-set-visualizers

  Public
  Java

  •0•1•0•1•Updated Feb 11, 2025Feb 11, 2025

• simulation-construction-set-group

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•2•Updated Feb 6, 2025Feb 6, 2025

• ihmc-javafx-toolkit

  Public
  Java

  •

  Apache License 2.0

  •1•0•2•1•Updated Feb 6, 2025Feb 6, 2025

• ihmc-graphics-description

  Public
  Java

  •

  Apache License 2.0

  •0•1•1•0•Updated Feb 6, 2025Feb 6, 2025

• ihmc-ethercat-master

  Public
  Java EtherCAT master based on the SOEM EtherCAT master

  Java

  •

  Apache License 2.0

  •14•21•3•2•Updated Feb 6, 2025Feb 6, 2025

• ihmc-motors

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•0•Updated Feb 6, 2025Feb 6, 2025

• ihmc-matrix-library

  Public
  Provides tools for manipulating matrices on top of the EJML library

  Java

  •

  Apache License 2.0

  •0•1•1•1•Updated Feb 6, 2025Feb 6, 2025

• ihmc-javafx-extensions

  Public
  Small set of extensions of the JavaFX library

  Java

  •

  GNU General Public License v2.0

  •0•0•0•0•Updated Feb 6, 2025Feb 6, 2025

• ekf

  Public
  A EKF based state estimator for floating base robots.

  Java

  •

  Apache License 2.0

  •0•4•1•0•Updated Feb 6, 2025Feb 6, 2025

• mecano

  Public
  Rigid-body dynamics algorithms

  roboticsdynamicsnewtonian-mechanics+ 3mechanicsrigid-body-dynamicsfeatherstone

  Java

  •

  Apache License 2.0

  •3•14•5•0•Updated Feb 6, 2025Feb 6, 2025

• ihmc-yovariables

  Public
  Variables with history for scientific Java computing.

  Java

  •1•0•3•0•Updated Feb 6, 2025Feb 6, 2025

• joctomap

  Public
  Java

  •2•1•0•0•Updated Feb 6, 2025Feb 6, 2025

• euclid

  Public
  Vector math, geometry, reference frame, and shapes 2D & 3D

  shapevector-mathgeometry+ 1euclid

  Java

  •

  Apache License 2.0

  •9•31•21•2•Updated Feb 5, 2025Feb 5, 2025

• ihmc-messager

  Public
  Java

  •

  Apache License 2.0

  •0•1•6•0•Updated Feb 5, 2025Feb 5, 2025

• ihmc-commons

  Public
  Useful tools and utilities that extend Java, Apache Commons Lang, and Apache Commons IO to make them a little more accessible and non-intrusive.

  Java

  •

  Apache License 2.0

  •1•1•12•0•Updated Feb 5, 2025Feb 5, 2025

• log-tools

  Public
  Easy to use logging with backtraces, realtime safety, and colored output.

  Java

  •0•0•8•0•Updated Feb 4, 2025Feb 4, 2025

• zed-java-api

  Public
  Use Stereolabs sensors such as ZED 2, ZED 2i, ZED X, ZED Mini, ZED X Mini from Java.

  javaopencvperception+ 5javacvzed-camerazed2stereolabszedsdk

  Java

  •

  Apache License 2.0

  •0•0•0•0•Updated Feb 3, 2025Feb 3, 2025

• promp-java

  Public
  Python

  •

  GNU Lesser General Public License v3.0

  •0•0•0•0•Updated Feb 3, 2025Feb 3, 2025

• maven-artifacts-archive

  Public
  0•0•0•0•Updated Jan 16, 2025Jan 16, 2025

• javacpp

  Public
  The missing bridge between Java and native C++

  Java

  •

  Other

  •590•0•0•0•Updated Jan 15, 2025Jan 15, 2025

• javacpp-presets

  Public
  The missing Java distribution of native C++ libraries

  Java

  •

  Other

  •751•0•0•0•Updated Jan 15, 2025Jan 15, 2025