XBotCore: https://github.com/ADVRHumanoids/XBotCore

LMA Toolbox Download

All simulation tools developed within the WALK-MAN project are available as open source.

An extensive documentation and instructions for installation and test are provided. The source is written in C/C++ and is cross platform (Linux, Windows and Mac OS). Moreover, the simulation environment is also proposed in Matlab and Simulink. This allows  leveraging the direct Matlab interface and toolboxes to process data and analyse results.