Repositories list

• ihmc-alexander-sdk

  Public
  ROS2 package containing messages for sending low-level control commands and receiving low-level robot data from IHMC's Alexander humanoid

  CMake

  •

  Apache License 2.0

  •1•0•0•6•Updated Jun 27, 2025Jun 27, 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

  •98•277•1•39•Updated Jun 26, 2025Jun 26, 2025

• jros2

  Public
  The easiest way to use ROS 2 from Java

  javacomputer-visionrobotics+ 3pubsubrosros2

  Java

  •

  Apache License 2.0

  •0•2•9•0•Updated Jun 26, 2025Jun 26, 2025

• ihmc-IsaacLab

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

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

  •1.9k•0•0•0•Updated Jun 25, 2025Jun 25, 2025

• ihmc-robot-data-logger

  Public
  Java

  •

  Apache License 2.0

  •1•4•3•2•Updated Jun 25, 2025Jun 25, 2025

• maven-artifacts-archive

  Public
  0•0•0•0•Updated Jun 25, 2025Jun 25, 2025

• ihmc_psyonic_ros2

  Public
  A ROS package for controlling PSYONIC Ability Hands

  Java

  •

  Apache License 2.0

  •0•0•0•0•Updated Jun 23, 2025Jun 23, 2025

• lerobot

  Public
  🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

  Python

  •

  Apache License 2.0

  •2k•0•0•2•Updated Jun 23, 2025Jun 23, 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•14•72•2•Updated Jun 20, 2025Jun 20, 2025

• valkyrie

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

  Java

  •

  Apache License 2.0

  •0•3•2•4•Updated Jun 20, 2025Jun 20, 2025

• ihmc-robotics-tools

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•4•Updated Jun 20, 2025Jun 20, 2025

• simulation-construction-set-group

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•2•Updated Jun 20, 2025Jun 20, 2025

• mecano

  Public
  Rigid-body dynamics algorithms

  roboticsdynamicsnewtonian-mechanics+ 3mechanicsrigid-body-dynamicsfeatherstone

  Java

  •

  Apache License 2.0

  •3•14•5•0•Updated Jun 20, 2025Jun 20, 2025

• log-tools

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

  Java

  •0•0•8•0•Updated Jun 20, 2025Jun 20, 2025

• jinput

  Public
  Java library for accessing input devices

  Java

  •82•1•2•1•Updated Jun 20, 2025Jun 20, 2025

• simulation-construction-set-visualizers

  Public
  Java

  •0•1•0•1•Updated Jun 20, 2025Jun 20, 2025

• tonegodgui

  Public
  ToneGod's graphical user interface library for jMonkeyEngine3

  Java

  •

  Other

  •14•1•0•0•Updated Jun 20, 2025Jun 20, 2025

• joctomap

  Public
  Java

  •2•1•0•0•Updated Jun 20, 2025Jun 20, 2025

• ihmc-ros2-library

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

  Java

  •

  Apache License 2.0

  •7•28•9•0•Updated Jun 20, 2025Jun 20, 2025

• repository-group

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

  Shell

  •1•1•3•0•Updated Jun 20, 2025Jun 20, 2025

• ihmc-yovariables

  Public
  Variables with history for scientific Java computing.

  Java

  •1•0•3•0•Updated Jun 20, 2025Jun 20, 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

  •6•16•1•0•Updated Jun 20, 2025Jun 20, 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 Jun 20, 2025Jun 20, 2025

• atlas

  Public
  Repository for old atlas tests, currently still building on open robotics source, but will be eventually pinned to a release.

  Java

  •

  Apache License 2.0

  •0•0•0•0•Updated Jun 20, 2025Jun 20, 2025

• ihmc-motors

  Public
  Java

  •

  Apache License 2.0

  •0•1•0•0•Updated Jun 20, 2025Jun 20, 2025

• ihmc-convex-optimization

  Public
  Library for convex optimization, more especially Quadratic Programming

  Java

  •

  Apache License 2.0

  •0•1•0•0•Updated Jun 20, 2025Jun 20, 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 Jun 20, 2025Jun 20, 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 Jun 20, 2025Jun 20, 2025

• ekf

  Public
  A EKF based state estimator for floating base robots.

  Java

  •

  Apache License 2.0

  •0•5•1•0•Updated Jun 20, 2025Jun 20, 2025

• ihmc-messager

  Public
  Java

  •

  Apache License 2.0

  •0•1•6•0•Updated Jun 20, 2025Jun 20, 2025