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ihmc-open-robotics-software repository

rhino_beetle_description ihmc_robotics multisense_sl_description ihmc_demo_py behavior_msgs controller_msgs exoskeleton_msgs ihmc_common_msgs perception_msgs system_monitor_msgs test_msgs toolbox_msgs vision_msgs generator_test_msgs

ROS Distro
github

Repository Summary

Description	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.
Checkout URI	https://github.com/ihmcrobotics/ihmc-open-robotics-software.git
VCS Type	git
VCS Version	develop
Last Updated	2026-02-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
rhino_beetle_description	0.0.0
ihmc_robotics	UNKNOWN
multisense_sl_description	UNKNOWN
ihmc_demo_py	0.1.0
behavior_msgs	0.0.1
controller_msgs	0.0.1
exoskeleton_msgs	0.0.1
ihmc_common_msgs	0.0.1
perception_msgs	0.0.1
system_monitor_msgs	0.0.1
test_msgs	0.0.1
toolbox_msgs	0.0.1
vision_msgs	4.2.0
generator_test_msgs	0.0.1

README

IHMC Open Robotics Software

Current Continuous Integration Status

Current develop status

Current release status

Robots

This software has been used to power a wide variety of humanoid robots. This includes

Licensing

All of the software in IHMC Open Robotics Software is licensed under the Apache 2.0 license.

Developing with IHMC Open Robotics Software from source

IHMC Open Robotics Software uses the Gradle build system, and requires JDK 17. We recommend working in IntelliJ.

See the following tutorials for installing and using IHMC Open Robotics Software:

Arch Linux will work fine for development. Other GNU/Linux distros will likely work, however largely untested. macOS is partially supported, but incomplete at this time.

To get set up, use our public Confluence pages: https://ihmcrobotics.atlassian.net/wiki/spaces/PUBLIC/overview

Other IHMC Libraries

IHMC Open Robotics Software both depends on, and is depended on by, a large ecosystem of IHMC robotics libraries. Below is a representative (but not exhaustive) list of related projects used by this repository.

Simulation & Visualization

Simulation Construction Set 2 (SCS2)
Modern simulation environment with built-in analysis tools
https://github.com/ihmcrobotics/simulation-construction-set-2
Simulation Construction Set (legacy)
Deprecated simulation engine still used for base visualization

Math, Geometry, & Dynamics

Euclid
Java vector and geometry library with common 3D structures
https://github.com/ihmcrobotics/euclid
Mecano
Rigid-body dynamics library built on Euclid and EJML
https://github.com/ihmcrobotics/mecano
IHMC Matrix Library
IHMC Convex Optimization
Collection of algorithms for solving convex optimization problems

Data, Logging, & Analysis

IHMC YoVariables
Core data structures for time-series tracing and SCS analysis
https://github.com/ihmcrobotics/ihmc-yovariables
IHMC Robot Data Logger
Application for logging YoVariables
IHMC Log Tools

Perception & State Estimation

JOctoMap
Java implementation of OctoMap
https://github.com/ihmcrobotics/joctomap
IHMC EKF

Real-Time, Communication, & Middleware

IHMC Realtime
Soft real-time Java threading on Linux using RT_PREEMPT
https://github.com/ihmcrobotics/ihmc-realtime
IHMC EtherCAT Master
Java EtherCAT master built on IHMC Realtime and SOEM
https://github.com/ihmcrobotics/ihmc-ethercat-master

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CONTRIBUTING

How to contribute

TODO work in progess

# How to contribute TODO work in progess

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