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iDynTree

  • Software
  • Humanoids and robot learning
  • Library

A C++ library of rigid-body dynamics and kinematics algorithms for control, estimation and simulation, aimed mainly at free-floating robots such as humanoids.

Made by Generative Bionics, Italy (checked on github.com/gbionics (opens in a new tab)).

Source on GitHub: github.com/gbionics/idyntree (opens in a new tab). Facts read at commit c2f6ab1 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit c2f6ab1 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Written in C++, with Python and MATLAB bindings.
  • Represents robots with an undirected graph model that allows changing the base link without reloading the model.
  • Reads and writes URDF files and reads SDFormat files.
  • Defaults to mixed representation of link quantities, with optional body and inertial representations.
  • Includes an estimator for joint torques and external wrenches without collocated joint torque sensors.
  • Provides command line tools to print model information, view a model, and simplify model shapes.

Written by Robotheca from the project's README (opens in a new tab) at commit c2f6ab1.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
13 Oct 2026 on master
Latest release
v15.1.0 (27 Jun 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.