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Whole-Body Control and Simulation Software

Software Name Developed by Repository Open-Source? Maintained?
PnC The Human Centered Robotics Group, The Univ. of Texas at Austin https://github.com/junhyeokahn/PnC yes yes
PyPnC The Human Centered Robotics Group, The Univ. of Texas at Austin https://github.com/junhyeokahn/PnC yes yes
Choreonoid National Institute of Advanced Industrial Science and Technology (AIST) , Japan https://github.com/choreonoid yes yes
CartesI/O (OpenSoT) Humanoids & Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT) ? no yes
Stack of Tasks Gepetto Research Group, LAAS-CNRS https://github.com/stack-of-tasks yes yes
LeggedRobotics Robotic Systems Lab - Legged Robotics at ETH Zürich https://github.com/leggedrobotics yes yes
ihmc-open-robotics-software IHMC Robotics Lab https://github.com/ihmcrobotics/ihmc-open-robotics-software yes yes
mc_rtc CNRS-AIST JRL, CNRS LIRMM https://github.com/jrl-umi3218/mc_rtc yes yes
Drake Robot Locomotion Group at MIT and the Robotics Division at Toyota Research Institute https://github.com/RobotLocomotion/drake yes yes