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Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
Useful tools and utilities that extend Java, Apache Commons Lang, and Apache Commons IO to make them a little more accessible and non-intrusive.
Framework for managing large groups of unit tests supporting categories and duration balanced test suite generation.
Simulation environment for rigid body dynamics featuring rewindable variables, visualization, and the Java progamming language.
Realtime safe implementation of ROS2 in Java.
A Java library for doing Publish/Subscribe messaging over DDS using Fast RTPS (https://github.com/eProsima/Fast-RTPS)
IHMC ROS 1 messages.
ROS 2 messages and ihmc-pub-sub Java messages for interacting with IHMC software.
Composite build and IDE classpath seperation support for JVM Gradle projects.
Java EtherCAT master based on the SOEM EtherCAT master
A visualizer for traffic in an RTPS domain.
Essential vector math library supporting allocation free programming for real time systems. Extreme focus on unit and integration testing, type safety, and crash early code quality standards.
Simulations, models, and controllers for efficient cable-drive robots designed by Sandia National Labs
Gradle files for importing multi-repository builds into IDEs.
Variables with history for scientific Java computing.
Repository for IHMC Robotics Github Pages site.
IHMCRealtime provides a JNI-backed threading library for attaching real-time POSIX threads to a running JVM process, allowing for deterministic computation of tasks. A JNI-backed CPU Affinity library and pure Java data structures for lockless inter-thread communication
Load and store encrypted values from .properties files from Java.
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