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

  •106•296•1•23•Updated Dec 17, 2025Dec 17, 2025

• 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

  •1•0•0•5•Updated Dec 16, 2025Dec 16, 2025

• psyonic-ability-hand-java

  Public
  Control the PSYONIC Ability Hand from Java using RS485 or BLE

  javaroboticsrs485+ 2robothandpsyonicabilityhand

  Java

  •

  Apache License 2.0

  •1•0•0•0•Updated Dec 16, 2025Dec 16, 2025

• jros2

  Public
  The easiest way to use ROS 2 from Java

  javacomputer-visionrobotics+ 3pubsubrosros2

  Java

  •

  Apache License 2.0

  •0•7•5•0•Updated Dec 16, 2025Dec 16, 2025

• isaac_ros_common

  Public
  Common utilities, packages, scripts, and testing infrastructure for Isaac ROS packages.

  C++

  •

  Other

  •208•0•0•1•Updated Dec 16, 2025Dec 16, 2025

• ihmc_hands_ros2

  Public
  A ROS 2 package for controlling various robot hands

  Java

  •

  Apache License 2.0

  •0•0•1•0•Updated Dec 11, 2025Dec 11, 2025

• isaac_ros_pose_estimation

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

  C++

  •

  Apache License 2.0

  •41•0•0•0•Updated Dec 8, 2025Dec 8, 2025

• ability-hand-api

  Public
  Materials for the ability hand API, including documentation, URDF, Matlab, & Python examples.

  Python

  •

  MIT License

  •14•0•0•0•Updated Dec 3, 2025Dec 3, 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

  •2•16•72•3•Updated Dec 1, 2025Dec 1, 2025

• repository-group

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

  Shell

  •2•1•3•0•Updated Nov 21, 2025Nov 21, 2025

• FoundationPose

  Public
  [CVPR 2024 Highlight] FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

  Python

  •

  Other

  •388•0•0•0•Updated Nov 5, 2025Nov 5, 2025

• ihmc-robot-data-logger

  Public
  Java

  •

  Apache License 2.0

  •1•4•3•1•Updated Oct 22, 2025Oct 22, 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 Oct 22, 2025Oct 22, 2025

• openpi

  Public
  Python

  •

  Apache License 2.0

  •1.2k•0•0•1•Updated Oct 17, 2025Oct 17, 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 Oct 16, 2025Oct 16, 2025

• promp-java

  Public
  Python

  •

  GNU Lesser General Public License v3.0

  •0•0•0•0•Updated Oct 7, 2025Oct 7, 2025

• valkyrie

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

  Java

  •

  Apache License 2.0

  •0•4•4•4•Updated Oct 7, 2025Oct 7, 2025

• sam2

  Public
  The repository provides code for running inference with the Meta Segment Anything Model 2 (SAM 2), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.

  Jupyter Notebook

  •

  Apache License 2.0

  •2.3k•0•0•0•Updated Oct 3, 2025Oct 3, 2025

• ihmc-robotics-tools

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•0•Updated Oct 3, 2025Oct 3, 2025

• simulation-construction-set-group

  Public
  Java

  •

  Apache License 2.0

  •0•0•0•2•Updated Oct 3, 2025Oct 3, 2025

• mecano

  Public
  Rigid-body dynamics algorithms

  roboticsdynamicsnewtonian-mechanics+ 3mechanicsrigid-body-dynamicsfeatherstone

  Java

  •

  Apache License 2.0

  •3•15•5•0•Updated Oct 3, 2025Oct 3, 2025

• log-tools

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

  Java

  •0•0•8•0•Updated Oct 3, 2025Oct 3, 2025

• jinput

  Public
  Java library for accessing input devices

  Java

  •85•1•2•1•Updated Oct 3, 2025Oct 3, 2025

• joctomap

  Public
  Java

  •2•1•0•0•Updated Oct 3, 2025Oct 3, 2025

• ihmc-ros2-library

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

  Java

  •

  Apache License 2.0

  •8•31•9•1•Updated Oct 3, 2025Oct 3, 2025

• ihmc-yovariables

  Public
  Variables with history for scientific Java computing.

  Java

  •1•0•3•0•Updated Oct 3, 2025Oct 3, 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 Oct 3, 2025Oct 3, 2025

• ihmc-motors

  Public
  Java

  •

  Apache License 2.0

  •0•1•0•0•Updated Oct 3, 2025Oct 3, 2025

• ihmc-convex-optimization

  Public
  Library for convex optimization, more especially Quadratic Programming

  Java

  •

  Apache License 2.0

  •0•1•0•0•Updated Oct 3, 2025Oct 3, 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 Oct 3, 2025Oct 3, 2025