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  1. As of May, 2021 use the following link to insatll Java: https://www.azul.com/downloads/zulu-community/?architectureversion=x86java-6417-bitlts&package=jdk and  and select the disk image as a guideline to download Java FX- JDK version 8. As of March 2019, we do not yet support anything over Java 8.Image Removed17. 
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  2. Run that executable. Allow it to make changes to your computer. Accept all the defaults (Click Next or OK on each choice). It will likely install it in C:\Program Files\Zulu\zulu-8\ 

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  1. Exit Eclipse if it is running.
  2. Edit the -Xms and -Xmx lines in your [eclipse installation directory]/eclipse.ini file (C:/eclipse/java-2022-03/eclipse/eclipse.ini if installed as described above). Change them to read  -Xms1024m and -Xmx4096m . (You might need to adjust these depending on RAM capacity, 1g and 4g are good for computers with 16GB of RAM). This will give Eclipse more memory to work with.
  3. Start Eclipse. Go to Window→Preferences Select the General→Workspace tab. Set the text file encoding to UTF-8 and the New text file line delimiter to Other: Unix.



  4. In Preferences, under Java→Installed JREs, make sure to select the Java1.8 Java17 JRE you installed (Add → select standard VM and click Next → click Directory and select folder C:\Program Files\Zulu\zulu-17 → finish) and remove any others:Image Removed
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  5. In Gradle Preferences, make sure to select 7.4.2 (or perhaps higher - check with Jerry if not sure) and point to the installed Java JRE:
  6. In Preferences, under Java→Compiler, make sure to set Compiler Compliance Level to 1.8
  7. In Preferences, under Java-> Compiler, Errors/Warnings, expand Deprecated and restricted API. Change "Forbidden reference (access rules)" from "Error" to "Ignore". Click Apply. Accept doing a full build if it asks you. Then click Apply and Close.



  8. Open Preferences again and under General→Keys, click on Binding to sort on order of binding. Find F11, which by default is set to Debug. Change that one to CTRL-F11 by clicking in the binding box and hitting those keys. This will show that there is a conflict with Run. Select Run and change it from CTRL-F11 to F11. This will make it easy to run things repeatedly by just hitting F11. Select Apply and Close.
  9. Open Preferences again and select Run/Debug→Launching. Select Always on Save required dirty editors before launching; Select Always launch the previously launched application. Should look like this. Select Apply and Close.

  10. Open Preferences and select Version Control (Team)→Git. Change connection timeout (seconds) to something like 300 instead of 30. Change Default repository folder to C:\repos. Click Apply and Close.

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  1. As in the steps above for cloning a repository, clone the additional following repositories. Make sure to put them all in the repository-group location:
    1. https://stash.ihmc.us/scm/icsl/ihmc-internal-software.git
    2. https://stash.ihmc.us/scm/icsl/impulse-series-4-controller.git
    3. https://stash.ihmc.us/scm/icsl/atlas-hardware-drivers.git
    4. https://stash.ihmc.us/scm/icsl/atlas-user-interface.git
    5. https://stash.ihmc.us/scm/icsl/ihmc-internal-software.git
  2. Do Gradle Refresh and build the project. These will each take a few minutes. 
  3. Check the Problems Tab when done building to see if any errors. If so, try to figure them out and if cannot, make sure to go over all the previous instructions to make sure you didn't do anything wrong. If still can't figure it out, ask Jerry to fix these instructions.
  4. Go to DDS Domain ID Registry and find your Domain ID. If not listed, choose a new one and add it. Make sure different than others or you will break stuff.
  5. Run NetworkParametersCreator. Set most of the things to localhost (127.0.0.1) as in the picture, with ROS master URL http://127.0.0.1:11311. Set the RTPSDomainID on the bottom to be the one assigned to you (replace -1). 
     
  6. Click Save.
  7. Run AtlasObstacleCourseDemo. This will bring up a Launch window. Drop down DEFAULT on the location. Make sure the following check boxes are checked: Simulation, SensorModule, NetworkProcessor. Click OK.
  8. This will bring up an SCS simulation with Atlas. Make sure it seems to be running ok, by plotting t.
  9. Run AtlasOperatorUserInterface. Wait for it to come up and make sure you can see the camera view on the left side.
  10. Play around with the interface. 
    1. Click the third button on the LIDAR Control buttons to show LIDAR. 
    2. Once LIDAR shows up some, right click on the ground in the right viewport to have some footsteps show up. Click space to take the footsteps.
    3. Play around by clicking things and figuring it out. You can't break things. That's the beauty of simulation.
  11. Run LidarBasedREAStandaloneLauncher. This will run REA and bring up a GUI. Use the middle mouse wheel to zoom out. 
  12. Watch and be amazed as Planar Regions appear. Click on the Octree tab and the clear button to erase them and watch them form again.
  13. In AtlasOperatorUserInerface click the third LIDAR button again to hide LIDAR points and click the fifth button to show the planar regions. Be amazed as they show up in the UI!
  14. Click on the SNAP button on Footstep Controls. Now when you right click on a planar region, the footsteps should snap to the planar region.
  15. AtlasOperatorUserInterface is the interface we used for the DRC and still use a lot for many things. You can keep it running as you try the things below, but if you're computer lags, you also can kill it but keep REA running.
  16. Run AtlasFootstepPlannerUI. Another GUI will pop up. Make sure "Accept New Planar Regions" check box is clicked in the Main tab. Zoom out and center on the robot and planar regions. Use Shift-Click to center and ASDW to navigate.
  17. Click on Place Goal. Place the Goal and the heading direction in the UI somewhere. Click Compute Path. Be amazed as footstep path is generated. Click on send plan to send it.
  18. Play around more. Once you are comfortable, find when someone is running a robot next and ask them to give you a lesson on how to operate it. Practice in sim first.
  19. If your sims are sluggish and you are going to be doing a lot of development, probably should get a faster computer. To speed some things up, do the following:
    1. In AtlasObstacleCourseDemo, set recordFrequencySpeedup = 10 (or even 100 if you wish) and AtlasRobotVersion version = AtlasRobotVersion.ATLAS_UNPLUGGED_V5_NO_HANDS;
    2. *** Do not check those changes in to the repository. Only change them locally. ***
    3. If you want to walk on stairs or partial contacts, set addExtraContactPoints = true; Otherwise, keep it false.
    4. Set SwingTime lower (say 0.6) and TransferTime (say 0.1) in the GUIs.
  20. Run AtlasBehaviorUIAndModule. Play around with the behaviors.

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