Inquiry on Modular Usage of ihmc-perception and ihmc-footstep-planning

[LX-SZY]

Hi IHMC Open Robotics team,

First, thank you for your incredible work on this open-source project! I’ve been exploring the repository and am particularly fascinated by the ihmc-perception and ihmc-footstep-planning modules. I’d like to integrate these components into a personal research project but have a few questions about their standalone usage:

1. Modular Usage :

• Are these modules designed to be called independently (e.g., without relying on the full IHMC framework)?

• If so, could you provide guidance or examples on how to initialize and interact with them programmatically?

2. Python Integration :

• Is it possible to compile these modules (or their core functionalities) into a format compatible with Python (e.g., via Jython, JNI, or other bindings)?

• Are there existing workflows or documentation for integrating these modules into a Python-based project?

I’ve reviewed the documentation and Gradle configurations (e.g., build.gradle.kts in ihmc-footstep-planning), but would greatly appreciate your insights to clarify these points. I’m also happy to test any experimental approaches or contribute to improving documentation if needed!
Thank you for your time and expertise—looking forward to your guidance!

Best regards,
liu