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 incl…

  javaroboticswhole-body-control+ 3

  javaroboticswhole-body-controlwalkinghumanoid-robotihmc

  Java

  •110110 forks•324324 stars•11 issue•3535 pull requests•Updated Aug 4, 2026Aug 4, 2026

• scs2

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

  roboticssimulationdata-visualization+ 1

  roboticssimulationdata-visualizationhumanoid-robot

  Java

  •

  Apache License 2.0

  •55 forks•1717 stars•7272 issues•00 pull requests•Updated Aug 4, 2026Aug 4, 2026

• alex-mocap

  Public
  IHMC Motion Capture Ground Truth Generator for Alex

  00 forks•00 stars•00 issues•00 pull requests•Updated Aug 3, 2026Aug 3, 2026

• ihmc-common-hardware

  Public
  Project containing drivers/classes for boards, sensors, motor controllers, mechanisms, and other hardware commonly used on IHMC robots.

  Java

  •

  Apache License 2.0

  •00 forks•11 star•00 issues•77 pull requests•Updated Aug 3, 2026Aug 3, 2026

• csv-analyzer-tool

  Public
  A tool to upload and analyze large amounts of data from CSV (possible expanded to .MAT) files using various math tools.

  Python

  •00 forks•00 stars•00 issues•00 pull requests•Updated Aug 3, 2026Aug 3, 2026

• ihmc-alex-sdk

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

  Java

  •

  Apache License 2.0

  •33 forks•22 stars•11 issue•99 pull requests•Updated Aug 3, 2026Aug 3, 2026

• ihmc-robot-data-logger

  Public
  Java

  •

  Apache License 2.0

  •11 fork•55 stars•22 issues•44 pull requests•Updated Aug 3, 2026Aug 3, 2026

• jros2

  Public
  The easiest way to use ROS 2 from Java

  javacomputer-visionrobotics+ 3

  javacomputer-visionroboticspubsubrosros2

  Java

  •

  Apache License 2.0

  •66 forks•2020 stars•77 issues•00 pull requests•Updated Jul 31, 2026Jul 31, 2026

• ihmc_hands_ros2

  Public
  A ROS 2 package for controlling various robot hands

  Java

  •

  Apache License 2.0

  •00 forks•11 star•11 issue•11 pull request•Updated Jul 31, 2026Jul 31, 2026

• Admiral

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

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

  •00 forks•00 stars•00 issues•00 pull requests•Updated Jul 29, 2026Jul 29, 2026

• repository-group

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

  Shell

  •22 forks•11 star•33 issues•00 pull requests•Updated Jul 27, 2026Jul 27, 2026

• isaac_ros_pose_estimation

  Public
  Deep learned, NVIDIA-accelerated 3D object pose estimation

  C++

  •

  Apache License 2.0

  •5252 forks•00 stars•00 issues•00 pull requests•Updated Jul 22, 2026Jul 22, 2026

• ihmc-ros2-library

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

  Java

  •

  Apache License 2.0

  •88 forks•3232 stars•99 issues•11 pull request•Updated Jul 17, 2026Jul 17, 2026

• mecano

  Public
  Rigid-body dynamics algorithms

  roboticsdynamicsnewtonian-mechanics+ 3

  roboticsdynamicsnewtonian-mechanicsmechanicsrigid-body-dynamicsfeatherstone

  Java

  •

  Apache License 2.0

  •22 forks•1616 stars•55 issues•00 pull requests•Updated Jul 11, 2026Jul 11, 2026

• lerobot

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

  Python

  •

  Apache License 2.0

  •5.3k5.3k forks•00 stars•00 issues•11 pull request•Updated Jul 11, 2026Jul 11, 2026

• euclid

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

  geometryeuclidshape+ 1

  geometryeuclidshapevector-math

  Java

  •

  Apache License 2.0

  •99 forks•3535 stars•2020 issues•22 pull requests•Updated Jul 7, 2026Jul 7, 2026

• ihmc-messager

  Public
  Java

  •

  Apache License 2.0

  •00 forks•11 star•66 issues•00 pull requests•Updated Jun 30, 2026Jun 30, 2026

• zed-java-api

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

  javaopencvperception+ 5

  javaopencvperceptionjavacvzed-camerazed2stereolabszedsdk

  Java

  •

  Apache License 2.0

  •00 forks•00 stars•00 issues•00 pull requests•Updated Jun 29, 2026Jun 29, 2026

• ihmc-actions

  Public
  Reusable GitHub actions & workflows for ihmcrobotics projects

  Apache License 2.0

  •00 forks•00 stars•00 issues•00 pull requests•Updated Jun 29, 2026Jun 29, 2026

• llama.cpp-javacpp

  Public
  Use llama.cpp from Java.

  Java

  •

  Apache License 2.0

  •00 forks•22 stars•44 issues•00 pull requests•Updated Jun 25, 2026Jun 25, 2026

• alex-gui

  Public
  Python GUI for Alex

  Python

  •00 forks•00 stars•00 issues•00 pull requests•Updated Jun 24, 2026Jun 24, 2026

• ihmc-yovariables

  Public
  Variables with history for scientific Java computing.

  Java

  •00 forks•00 stars•33 issues•11 pull request•Updated Apr 15, 2026Apr 15, 2026

• log-tools

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

  Java

  •00 forks•00 stars•88 issues•00 pull requests•Updated Mar 30, 2026Mar 30, 2026

• ihmc-convex-optimization

  Public
  Library for convex optimization, more especially Quadratic Programming

  Java

  •

  Apache License 2.0

  •00 forks•11 star•00 issues•00 pull requests•Updated Mar 12, 2026Mar 12, 2026

• ihmc-optimizer-wrappers

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

  C++

  •

  GNU Lesser General Public License v3.0

  •11 fork•00 stars•11 issue•00 pull requests•Updated Mar 12, 2026Mar 12, 2026

• ihmc-matrix-library

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

  Java

  •

  Apache License 2.0

  •00 forks•11 star•11 issue•00 pull requests•Updated Mar 9, 2026Mar 9, 2026

• ihmc-build

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

  Kotlin

  •

  Apache License 2.0

  •44 forks•33 stars•55 issues•00 pull requests•Updated Feb 19, 2026Feb 19, 2026

• ihmc-robotics-tools

  Public
  Java

  •

  Apache License 2.0

  •00 forks•00 stars•00 issues•00 pull requests•Updated Feb 10, 2026Feb 10, 2026

• joctomap

  Public
  Java

  •22 forks•11 star•00 issues•00 pull requests•Updated Feb 4, 2026Feb 4, 2026

• ekf

  Public
  A EKF based state estimator for floating base robots.

  Java

  •

  Apache License 2.0

  •00 forks•66 stars•11 issue•00 pull requests•Updated Feb 4, 2026Feb 4, 2026