Drake
Drake is a toolbox maintained by the Robot Locomotion Group at the MIT Computer Science and Artificial Intelligence Lab (CSAIL). It is a collection of tools for analyzing the dynamics of our robots and building control systems for them in MATLAB and C++, with a heavy emphasis on optimization-based design/analysis.
Please see the github wiki at http://drake.mit.edu for detailed documentation.
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License: BSD (https://raw.github.com/RobotLocomotion/drake/master/LICENSE.TXT)