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  1. Pick an operating system
    Ubuntu - Free, most compatible with robots
    Windows - Requires setting up long paths and installing redistributables.
  2. Install all of the following: (follow installation guides in linked pages)
    1. Graphics driver. For Nvidia GPUs and SCS 1, the proprietary Nvidia driver is currently required.
      Otherwise you will get the error "Could not find GLX 1.3 config from peer info"
    2. Java
    3. Git - It is recommended to install a GUI Client, like SmartGit.
      There is also a command line tool vcstool that can perform batch Git operations on groups of repositories.
    4. Gradle - Follow the "Installation" and "Configuration" sections.
  3. Choose and install an IDE:
    Follow the "Installation" and "Configuration" sections in one of the following.
    Make sure to setup the IHMC code formatter.
    1. IntelliJ
      More code navigation, refactoring, etc. tools
      Gradle script editor
      - Requires JAR manifest workaround on Windows
    2. Eclipse
      Faster compilation, quicker to launch simulations
      Fantastic multi-monitor support
      - Gradle files only editable via plain text
  4. Use Git to create a repository-group w/ IHMC Open Robotics Software

    MultiExcerptNameRepo group structure
    - In your system home folder (or C:/ drive in Windows), clone a copy of repository-group
    - Inside the repository-group folder, clone ihmc-open-robotics-software
    It should look like:
    ├── ihmc-open-robotics-software
    │   └── build.gradle
    │   └──
    │   └── settings.gradle
    ├── <other IHMC repositories as needed>
    ├── build.gradle
    └── settings.gradle

    There are several choices for cloning a repository, including command line, graphical git tool, or your IDE. For example, in Eclipse, add the Git perspective and various Git tools will be available through the GUI, including clone.
    To get the URL, navigate to the repository you wish to clone by searching, then click on the clone button in the upper left. See official guide here.

    You may wish to clone more projects depending what you are working on. Atlas and Valkyrie simulations are included in Open Robotics Software but not their user interfaces.  Take a look at what repositories are available here: Repository Collections

    Note: If you clone any proprietary projects you will need to edit ~/.gradle/ to contain the following:
  5. Use your IDE to import the code you cloned
    When you import a Gradle project, the IDE is analyzing the Java build structure that Gradle comes up with and copying that configuration into the IDE's data structures as if you had painstakingly configured a new Java project manually using the IDE's UI.
    Perform the Import directly on the repository-group folder or the repository-group/build.gradle.kts file.
    Follow the "Importing Gradle Projects" section of your IDE's page.
    1. IntelliJ IDEA#ImportingGradleProjects
    2. Eclipse IDE#ImportingGradleProjects
  6. Multiexcerpt
    MultiExcerptNamenetworkConfig for IHMC
    Setup network configuration
    1. Reserve an IP address if necessary.
    2. Reserve a DDS domain ID.
    3. Run and save it.
    4. Don't forget to set the RTPSSubnet. (i.e. RTPSSubnet=
  7. To see if everything is working, run some sample simulations. For example or