IHMC Parameter Tuner

Latest version 0.14.1

This repository is designed to create a standalone application that connects to a yo variable server adn enables tuning of parameters. These parameters can then be exported to the corresponding xml file.

Licensing

All of the software in IHMC Parameter Tuner is licensed under the Apache 2.0 license.

Developing with IHMC Parameter Tuner from source

IHMC Parameter Tuner uses the Gradle build system, and requires JDK 17. We recommend working in IntelliJ.

Our developers are a mix of Windows and Linux users. We officially support:

• Windows 10/11
• Ubuntu 20.04+

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 Parameter Tuner both depends on and is depended on by many other IHMC Robotics Libraries. A small sampling of our other software includes:

• Euclid, an alternative vector/geometry library for Java with support for additional structures common in 3D geometry without needing vecmath or Java3D: https://github.com/ihmcrobotics/euclid
• IHMC YoVariables, our core data structures tools that enable the time-series tracing and analysis of Simulation Construction Set: https://github.com/ihmcrobotics/ihmc-yovariables

You can find all of our other repositories as well as the ones above at https://github.com/ihmcrobotics

Building .jars

IHMC Parameter Tuner 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 IHMC Parameter Tuner
2. Make modifications
3. Publish to your local $HOME/.m2 repository

To publish jars to your local Maven repository:

$ cd /path/to/ihmc-parameter-tuner
$ gradle publishAll -PcompositeSearchHeight=0

Maintainers

• Robert Griffin (rgriffin@ihmc.org)
• Dexton Anderson (danderson@ihmc.org)