Repositories list

• openpi

  Public
  Python

  •

  Apache License 2.0

  •868•0•0•1•Updated Sep 19, 2025Sep 19, 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•16•72•2•Updated Sep 19, 2025Sep 19, 2025

• 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

  •102•283•1•27•Updated Sep 19, 2025Sep 19, 2025

• ihmc-robot-data-logger

  Public
  Java

  •

  Apache License 2.0

  •1•4•3•1•Updated Sep 19, 2025Sep 19, 2025

• repository-group

  Public
  Gradle files for importing multi-repository builds into IDEs.

  Shell

  •1•1•3•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-build

  Public
  Composite build and IDE classpath seperation support for JVM Gradle projects.

  Kotlin

  •

  Apache License 2.0

  •4•5•5•0•Updated Sep 19, 2025Sep 19, 2025

• log-tools

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

  Java

  •0•0•8•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-robotics-tools

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•0•Updated Sep 19, 2025Sep 19, 2025

• simulation-construction-set-group

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•2•Updated Sep 19, 2025Sep 19, 2025

• mecano

  Public
  Rigid-body dynamics algorithms

  roboticsdynamicsnewtonian-mechanics+ 3mechanicsrigid-body-dynamicsfeatherstone

  Java

  •

  Apache License 2.0

  •3•15•5•0•Updated Sep 19, 2025Sep 19, 2025

• jinput

  Public
  Java library for accessing input devices

  Java

  •82•1•2•1•Updated Sep 19, 2025Sep 19, 2025

• joctomap

  Public
  Java

  •2•1•0•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-ros2-library

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

  Java

  •

  Apache License 2.0

  •7•29•9•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-yovariables

  Public
  Variables with history for scientific Java computing.

  Java

  •1•0•3•0•Updated Sep 19, 2025Sep 19, 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 Sep 19, 2025Sep 19, 2025

• ihmc-optimizer-wrappers

  Public
  This library wraps qpOASES C/C++ library in Java.

  C++

  •

  GNU Lesser General Public License v3.0

  •1•0•1•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-video-codecs

  Public
  This library provides a Java library for H264 and MJPEG encoding and decoding as well as support for MP4.

  Java

  •

  Apache License 2.0

  •7•16•1•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-realtime

  Public
  IHMCRealtime provides a JNI-backed threading library for attaching real-time POSIX threads to a running JVM process, allowing for deterministic computation of tasks. A JNI-backed CPU Affinity library and pure Java data structures for lockless inter-thread communication

  Java

  •

  Apache License 2.0

  •3•15•1•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-native-library-loader

  Public
  Simple helper library to load native libraries from a .jar bundle

  Java

  •

  Apache License 2.0

  •3•3•1•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-alexander-sdk

  Public
  SDK for the IHMC Alexander humanoid robot. Contains a ROS 2 package for sending low-level commands and receiving low-level data.

  Java

  •

  Apache License 2.0

  •1•0•0•3•Updated Sep 19, 2025Sep 19, 2025

• ihmc-motors

  Public
  Java

  •

  Apache License 2.0

  •0•1•0•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-convex-optimization

  Public
  Library for convex optimization, more especially Quadratic Programming

  Java

  •

  Apache License 2.0

  •0•1•0•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-matrix-library

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

  Java

  •

  Apache License 2.0

  •0•1•1•0•Updated Sep 19, 2025Sep 19, 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 Sep 19, 2025Sep 19, 2025

• ekf

  Public
  A EKF based state estimator for floating base robots.

  Java

  •

  Apache License 2.0

  •0•5•1•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-messager

  Public
  Java

  •

  Apache License 2.0

  •0•1•6•0•Updated Sep 19, 2025Sep 19, 2025

• ihmc-javafx-toolkit

  Public
  Java

  •

  Apache License 2.0

  •1•0•2•1•Updated Sep 19, 2025Sep 19, 2025

• ihmc-graphics-description

  Public
  Java

  •

  Apache License 2.0

  •0•1•1•0•Updated Sep 19, 2025Sep 19, 2025

• euclid

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

  shapevector-mathgeometry+ 1euclid

  Java

  •

  Apache License 2.0

  •9•32•20•1•Updated Sep 19, 2025Sep 19, 2025

• ihmc-ethercat-master

  Public
  Java EtherCAT master based on the SOEM EtherCAT master

  Java

  •

  Apache License 2.0

  •15•22•3•2•Updated Sep 19, 2025Sep 19, 2025