IHMC Robotics

ihmc-open-robotics-software

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.

euclid

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

ihmc-ethercat-master

Java EtherCAT master based on the SOEM EtherCAT master

ihmc-java-ros2-communication

Realtime safe implementation of ROS2 in Java.

ihmc-pub-sub-group

A Java library for Publish/Subscribe messaging over DDS using Fast RTPS (https://github.com/eProsima/Fast-RTPS)

ihmc-realtime

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

ihmc-video-codecs

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

simulation-construction-set-2

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

mecano

Rigid-body dynamics algorithms

ekf

A EKF based state estimator for floating base robots.

ihmc-robot-data-logger

ihmc-native-library-loader

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

ihmc-java-decklink-capture

A simple JNI library that uses the Blackmagic Decklink SDK to capture video only to a MJPEG file. Capture control is provided trough a JNI interface

valkyrie

IHMC Controller and simulation environment for the NASA Valkyrie humanoid robot

ihmc-javafx-toolkit

ihmc-matrix-library

Provides tools for manipulating matrices on top of the EJML library

ihmc-messager

jinput

Java library for accessing input devices

joctomap

repository-group

Gradle files for importing multi-repository builds into IDEs.

simulation-construction-set-visualizers

tonegodgui

ToneGod's graphical user interface library for jMonkeyEngine3

crocoddyl

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

ihmc-yovariables

Variables with history for scientific Java computing.

java-sprite-world

log-tools

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

psyonic-ability-hand-java

Control the PSYONIC Ability Hand from Java using Bluetooth Low Energy.

remotecaptury-java

Java JNI bindings for Captury SDK "RemoteCaptury" API.

simulation-construction-set-group

SVGLoader

SVG file loader for JavaFX 2.0