Merge remote-tracking branch 'origin/develop' into develop

# Conflicts:
#	atlas/src/main/resources/us/ihmc/atlas/parameters/AtlasFootstepPlannerParameters.json

Author: PotatoPeeler3000

.gitattributes

@@ -13,3 +13,4 @@
 *.glb filter=lfs diff=lfs merge=lfs -text
 *.bin filter=lfs diff=lfs merge=lfs -text
 *.raw filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

.github/workflows/gradle-test-fast.yml

@@ -17,6 +17,62 @@ jobs:
     with:
       subproject: 'atlas'
       test-category: 'fast'
+  atlas-video:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'video'
+  atlas-controller-api:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'controller-api'
+  atlas-controller-api-2:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'controller-api-2'
+  atlas-humanoid-behaviors:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-behaviors'
+  atlas-humanoid-flat-ground:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-flat-ground'
+  atlas-humanoid-flat-ground-bullet:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-flat-ground-bullet'
+  atlas-humanoid-obstacle:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-obstacle'
+  atlas-humanoid-obstacle-2:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-obstacle-2'
+      requires-self-hosted: true
+  atlas-humanoid-push-recovery:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-push-recovery'
+  atlas-humanoid-rough-terrain:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-rough-terrain'
+  atlas-humanoid-toolbox:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-toolbox'
   example-simulations:
     uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
     with:
@@ -42,6 +98,7 @@ jobs:
     with:
       subproject: 'ihmc-footstep-planning'
       test-category: 'fast'
+      requires-self-hosted: true
   ihmc-graphics:
     uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
     with:
@@ -87,11 +144,6 @@ jobs:
     with:
       subproject: 'ihmc-parameter-optimization'
       test-category: 'fast'
-  ihmc-parameter-tuner:
-    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
-    with:
-      subproject: 'ihmc-parameter-tuner'
-      test-category: 'fast'
   ihmc-path-planning:
     uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
     with:
@@ -143,21 +195,11 @@ jobs:
     with:
       subproject: 'ihmc-system-identification'
       test-category: 'fast'
-  ihmc-trajectory-optimization:
-    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
-    with:
-      subproject: 'ihmc-trajectory-optimization'
-      test-category: 'fast'
   ihmc-whole-body-controller:
     uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
     with:
       subproject: 'ihmc-whole-body-controller'
       test-category: 'fast'
-  promp:
-    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
-    with:
-      subproject: 'promp'
-      test-category: 'fast'
   robot-environment-awareness:
     uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
     with:

.github/workflows/gradle-test-slow.yml

@@ -0,0 +1,117 @@
+name: Gradle test (slow)
+
+on:
+  schedule:
+    - cron: '0 */8 * * *'
+  workflow_dispatch:
+
+permissions:
+  checks: write
+  contents: read
+
+jobs:
+  atlas-allocation-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'allocation-slow'
+  atlas-allocation-slow-2:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'allocation-slow-2'
+  atlas-controller-api-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'controller-api-slow'
+  atlas-controller-api-slow-3:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'controller-api-slow-3'
+  atlas-controller-api-slow-4:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'controller-api-slow-4'
+  atlas-humanoid-behaviors-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-behaviors-slow'
+  atlas-humanoid-flat-ground-slow-2:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-flat-ground-slow-2'
+  atlas-humanoid-flat-ground-slow-3:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-flat-ground-slow-3'
+  atlas-humanoid-flat-ground-slow-4:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-flat-ground-slow-4'
+  atlas-humanoid-obstacle-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-obstacle-slow'
+  atlas-humanoid-obstacle-slow-2:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-obstacle-slow-2'
+  atlas-humanoid-obstacle-slow-3:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-obstacle-slow-3'
+  atlas-humanoid-push-recovery-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-push-recovery-slow'
+  atlas-humanoid-rough-terrain-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-rough-terrain-slow'
+  atlas-humanoid-stairs-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'atlas'
+      test-category: 'humanoid-stairs-slow'
+  ihmc-footstep-planning-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'ihmc-footstep-planning'
+      test-category: 'footstep-planning-slow'
+      requires-self-hosted: true
+  ihmc-footstep-planning-slow-2:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'ihmc-footstep-planning'
+      test-category: 'path-planning-slow'
+      requires-self-hosted: true
+  ihmc-java-toolkit-gui-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'ihmc-java-toolkit'
+      test-category: 'gui-slow'
+      requires-self-hosted: true
+  ihmc-path-planning-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'ihmc-path-planning'
+      test-category: 'path-planning-slow'
+      requires-self-hosted: true
+  simulation-construction-set-tools-slow:
+    uses: ihmcrobotics/ihmc-actions/.github/workflows/gradle-test.yml@main
+    with:
+      subproject: 'simulation-construction-set-tools'
+      test-category: 'gui-slow'
+      requires-self-hosted: true

README.md

@@ -1,8 +1,16 @@
 # IHMC Open Robotics Software
 
+## Current Continuous Integration Status
+
+![develop, fast](https://github.com/ihmcrobotics/ihmc-open-robotics-software/actions/workflows/gradle-test-fast.yml/badge.svg?branch=develop) Current develop status
+
+![develop, fast](https://github.com/ihmcrobotics/ihmc-open-robotics-software/actions/workflows/gradle-test-fast.yml/badge.svg?branch=0.14.0-240126) Current release status
+
 ## Robots
 
-- [Nadia](https://boardwalkrobotics.com/)
+This software has been used to power a wide variety of humanoid robots. This includes
+- [Nadia](https://www.ihmc.us/nadia-humanoid/)
+- [Valkyrie](https://www.nasa.gov/wp-content/uploads/2023/06/r5-fact-sheet.pdf)
 - [Alex](https://boardwalkrobotics.com/)
 
 ## Licensing
@@ -27,22 +35,124 @@ https://ihmcrobotics.atlassian.net/wiki/spaces/PUBLIC/overview
 
 ## Other IHMC Libraries
 IHMC Open Robotics Software both depends on and is depended on by many other IHMC Robotics Libraries. 
-A small sampling of our other software includes:
+A sampling of our other software depended on by this repository includes
+
+Simulation Construction Set 2, our own simulation environment with 
+built-in analysis tools: https://github.com/ihmcrobotics/simulation-construction-set-2 
+
+![scs2](https://maven-badges.herokuapp.com/maven-central/us.ihmc/scs2-definition/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/simulation-construction-set-2/actions/workflows/main-gradleCI-build.yml/badge.svg)
+
+Simulation Construction Set, a deprecated simulation engine that's still used for base visualization
 
-- Simulation Construction Set 2, our own simulation environment with 
-built-in analysis tools: https://github.com/ihmcrobotics/simulation-construction-set-2
-- Euclid, an alternative vector/geometry library for Java with support for additional structures 
+![scs2](https://maven-badges.herokuapp.com/maven-central/us.ihmc/simlation-construction-set/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/simulation-construction-set/actions/workflows/main-gradleCI-build.yml/badge.svg)
+
+
+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
-- Mecano, a rigid-body dynamics library built on top of Euclid and EJML: https://github.com/ihmcrobotics/mecano
-- IHMC YoVariables, our core data structures tools that enable the time-series tracing 
+
+![euclid](https://maven-badges.herokuapp.com/maven-central/us.ihmc/euclid/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/euclid/actions/workflows/gradle-test.yml/badge.svg)
+
+Mecano, a rigid-body dynamics library built on top of Euclid and EJML: https://github.com/ihmcrobotics/mecano
+
+![mecano](https://maven-badges.herokuapp.com/maven-central/us.ihmc/mecano/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/mecano/actions/workflows/gradle-test.yml/badge.svg)
+
+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
-- JOctoMap, a Java implementation of OctoMap: https://github.com/ihmcrobotics/joctomap
-- IHMC Realtime, a library for enabling soft real-time threading for Java on Linux using the 
+
+[ ![ihmc-yovariables](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-yovariables/badge.svg?style=plastic)](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-yovariables)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-yovariables/actions/workflows/gradle-test.yml/badge.svg)
+
+JOctoMap, a Java implementation of OctoMap: https://github.com/ihmcrobotics/joctomap
+
+![joctomap](https://maven-badges.herokuapp.com/maven-central/us.ihmc/joctomap/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/joctomap/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Realtime, a library for enabling soft real-time threading for Java on Linux using the 
 RT_PREEMPT patches: https://github.com/ihmcrobotics/ihmc-realtime
-- IHMC EtherCAT Master, a Java library using IHMC Realtime and Simple Open EtherCAT Master (SOEM) 
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-realtime/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-realtime/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC EtherCAT Master, a Java library using IHMC Realtime and Simple Open EtherCAT Master (SOEM) 
 that makes it simple to start a software EtherCAT Master and pure Java data structures that map to 
 EtherCAT Slave defintions: https://github.com/ihmcrobotics/ihmc-ethercat-master
 
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-ethercat-master/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-ethercat-master/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Robot Data Logger, an application for logging yo variables.
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-robot-data-logger/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-robot-data-logger/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Matrix Library
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-matrix-library/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-matrix-library/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Convex Optimization, an implementation of a number of algorithms for solving convex optimization problems.
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-convex-optimization/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-convex-optimization/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC EKF
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ekf/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ekf/actions/workflows/gradle-test.yml/badge.svg)
+
+
+IHMC ROS2 Library, a lightweight implementation of the ROS2 communication protocol.
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-ros2-library/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-java-ros2-communication/actions/workflows/gradle.yml/badge.svg)
+
+IHMC PubSub
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-pub-sub/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-pub-sub-group/actions/workflows/build-natives.yml/badge.svg)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-pub-sub-group/actions/workflows/run-gradle-test-all-platforms.yml/badge.svg)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-pub-sub-group/actions/workflows/run-gradle-test-linux-self-hosted.yml/badge.svg)
+
+IHMC Messager Kryo
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-messager-kryo/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-messager-kryo/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Video Codecs
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-video-codecs/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-video-codecs/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC JavaFX Toolkit
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-javafx-toolkit/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-javafx-toolkit/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Graphics Description
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-graphics-description/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-graphics-description/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Commons
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-commons/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-commons/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Native Library Loader
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/ihmc-native-library-loader/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/ihmc-native-library-loader/actions/workflows/gradle-test.yml/badge.svg)
+
+IHMC Log Tools
+
+![realtime](https://maven-badges.herokuapp.com/maven-central/us.ihmc/log-tools/badge.svg?style=plastic)
+![buildstatus](https://github.com/ihmcrobotics/log-tools/actions/workflows/gradle-test.yml/badge.svg)
+
+
 You can find all of our other repositories as well as the ones above at https://github.com/ihmcrobotics
 
 ## ROS APIs

atlas/build.gradle.kts

@@ -20,7 +20,7 @@ mainDependencies {
    api("us.ihmc:robotiq-hand-drivers:source")
    api("us.ihmc:ihmc-model-file-loader:source")
    api("us.ihmc:ihmc-manipulation-planning:source")
-   api("us.ihmc:ihmc-parameter-tuner:source")
+   api("us.ihmc:ihmc-parameter-tuner:0.14.1")
    api("us.ihmc:ihmc-footstep-planning-visualizers:source")
    api("us.ihmc:ihmc-high-level-behaviors:source")
 }