IHMC Open Robotics Software


Tested Platforms

We test all of our software on OS X 10.11 El Capitan, Windows 7/8/10, and Ubuntu 14.04 LTS Desktop and Server.


This repository uses the git-flow branching model. You can find more about git-flow here.


Individual projects all have their own license information. We use a combination of Apache 2.0 and GPLv3. Consult the license file in each project for more information.

Getting Started

Using IHMC Open Robotics Software .jar releases with Maven/Gradle

The release .jars for the various IHMCOpenRoboticsSoftware packages are hosted on Bintray. You can browse the release packages at Instructions for adding the Maven repository and identifying the artifacts can also be found on Bintray for each package.

At a minimum, you will need to have the following repositories declared in your build script to use the IHMCOpenRoboticsSoftware .jars:

repositories {
   maven {
      url  "" // IHMC Code releases

   maven {
      url  "" // Third-party libraries that we have vendored for various reasons

   /*  Nexus instance hosted at IHMC for some legacy vendored
    *  dependencies we have not been able to vendor on Bintray yet.
    *  This will be going away eventually.
   maven {
        url ""

   /* You will also need to add either jcenter() or mavenCentral() or both, depending on your preference */

Developing with IHMC Open Robotics Software from source


IHMCOpenRoboticsSoftware uses the Gradle build system, and requires JDK 7 or 8. We also strongly suggest an IDE, either Eclipse Mars.1 or IntelliJ IDEA 14+ (Ultimate or Community is fine). Currently, we require Gradle 2.10+. We provide a versioned Gradle wrapper for getting started quickly. The Gradle wrapper will always reflect the minimum version of Gradle required to build the software; if we adopt features only present in newer versions of Gradle as they are release we will update the wrapper. You can also install Gradle system-wide:

IDE Support

Our Gradle models are tested in IntelliJ IDEA 14+ (both Community and Ultimate) with the built-in Gradle integration, and Eclipse Mars.1 or higher with the Buildship plugin. The Buildship plugin is bundled with the Eclipse IDE for Java Developers as of Mars.1 (but not Java EE Developers), or it can be downloaded from the Eclipse Marketplace in other versions of Eclipse.

Building .jars

IHMCOpenRoboticsSoftware is pre-configured for generating Maven publications. You can publish directly from the source code right in to your local Maven repository, e.g. the $HOME/.m2 directory. These builds will be tagged with a build "version" of "LOCAL" instead of an incrementing version number.

An example workflow for developing against a local clone of the software:

  1. Clone IHMCOpenRoboticsSoftware
  2. Make modifications
  3. Publish to your local $HOME/.m2 repository

To publish jars to your local Maven repository:

$ cd <IHMCOpenRoboticsSoftware directory>
$ ./gradlew publishAllToMavenLocal

To depend on the jars in your local Maven repository:

In this example we'll have a compile-time dependency of the locally built SimulationConstructionSet project. In the build.gradle of the project you wish to have link against SimulationConstructionSet:

repositories {
  <your other repositories>

dependencies {
  compile group: 'us.ihmc', name: 'SimulationConstructionSet', version: 'LOCAL', changing: true

Depending directly on the source

For the IHMCOpenRoboticsSoftware and ihmc-build to work correctly when depending directly on the source, the Gradle project hierarchy needs to take a particular form. Let's assume you have a directory structure such as:

.<your Gradle root project>
├── build.gradle
├── settings.gradle
├── ProjectA
├── ProjectB
├── IHMCOpenRoboticsSoftware
│   └── Acsell
│   └── Atlas
│   └── CommonWalkingControlModules
├── ProjectC
└── ...

You will need to modify the root project settings.gradle to set up your project hierarchy correctly. The important thing is that you will need both :IHMCOpenRoboticsSoftware as well as the various :IHMCOpenRoboticsSoftware:<Sub Project> items in the Gradle hierarchy, even though IHMCOpenRoboticsSoftware doesn't contain any of its own Java source. This can be tedious to set up by hand, so we usually write our settings.gradle to do some naive dynamic generation of dependencies.

An example settings.gradle similar to what our developers use could look like the following: = '_Foo' // Your root project name goes here

def codeDir = rootProject.projectDir

def isGradleProjectFilter = new FilenameFilter() {
    boolean accept(File dir, String name) {
        File f = new File(dir, name).getCanonicalFile();
        return f.isDirectory() && new File(f, "build.gradle").exists();

codeDir.list(isGradleProjectFilter).each { mainProject ->
    include "${mainProject}"

    project(":${mainProject}").projectDir.list(isGradleProjectFilter).each { subProject ->
        include "${mainProject}:${subProject}"

If this is set up correctly, you can either apply the ihmc-build plugin from the Plugin portal and use the dependency resolver methods exposed by the build extensions, or you can manually identify dependencies on projects using the normal Gradle syntax for project dependencies. A sample build.gradle dependency block:

dependencies {
  compile project(':IHMCOpenRoboticsSoftware:IHMCJavaToolkit') // normal Gradle way of doing things

/* OR */

dependencies {
  compile ihmc.getProjectDependency(':IHMCJavaToolkit') // ihmc-build way of doing things