ihmcrobotics/ihmc-alexander-sdk
May 2025 – Jul 2026
3 Months active
Languages Used
CMakeIDLOBJmsgC++URDFXML
Technical Skills
3D ModelingBuild System ConfigurationCMakeMessage DefinitionPackage ManagementROS
Stefan Fasano
PROFILE
Stefan Fasano
Worked on the ihmc-alexander-sdk repository to deliver robust ROS messaging interfaces, improve build stability, and enhance 3D modeling fidelity for the Alexander V1 robot. Leveraged C++, CMake, and URDF to define new joint, IMU, and force-torque message types, integrating them into the build system for reliable state communication. Addressed configuration issues by removing invalid dependencies and aligning XML and URDF models, which improved simulation accuracy and controller reliability. Contributed to release management by updating Gradle and Kotlin build configurations, establishing clear version boundaries. The work emphasized configuration management, simulation fidelity, and maintainable build engineering across the SDK lifecycle.
Overall Statistics
Feature vs Bugs
57%Features
Repository Contributions
10Total
Bugs
3
Commits
10
Features
4
Lines of code
921,642
Activity Months3
Your Network
28 peopleSame Organization
@ihmc.org12
Work History
July 2026
1 Commits • 1 Features
Jul 1, 2026July 2026 monthly summary for ihmc-alexander-sdk: Focused release readiness and versioning improvements. Delivered the SDK Release Marker Version 0.4.0 by updating the build configuration and tagging the release, providing a clear version boundary for users and downstream systems. This milestone strengthens release discipline, improves traceability, and sets the stage for subsequent feature work and bug fixes.
1 Commits • 1 Features
Jul 1, 2026July 2026 monthly summary for ihmc-alexander-sdk: Focused release readiness and versioning improvements. Delivered the SDK Release Marker Version 0.4.0 by updating the build configuration and tagging the release, providing a clear version boundary for users and downstream systems. This milestone strengthens release discipline, improves traceability, and sets the stage for subsequent feature work and bug fixes.
July 2026
June 2025
4 Commits
Jun 1, 20252025-06 monthly summary: Key fixes and updates to ihmc-alexander-sdk including leg mechanism XML configuration fix and URDF/physics improvements, with improvements in leg control reliability and simulation accuracy. All changes are documented via commits: 1cfcdd131435da738ea61c2725cf394599df7e43; 1f13237514b23554793931e6f71f066d7b19496c; df5d72d05937657dae41874f085618464f087e06; 463768ae161874c945072ef5e8c82c9a125dd1b7. These enhancements strengthen system fidelity and reduce configuration drift.
June 2025
4 Commits
Jun 1, 20252025-06 monthly summary: Key fixes and updates to ihmc-alexander-sdk including leg mechanism XML configuration fix and URDF/physics improvements, with improvements in leg control reliability and simulation accuracy. All changes are documented via commits: 1cfcdd131435da738ea61c2725cf394599df7e43; 1f13237514b23554793931e6f71f066d7b19496c; df5d72d05937657dae41874f085618464f087e06; 463768ae161874c945072ef5e8c82c9a125dd1b7. These enhancements strengthen system fidelity and reduce configuration drift.
May 2025
5 Commits • 3 Features
May 1, 2025May 2025 monthly summary for ihmc-alexander-sdk. Focused on delivering robust ROS messaging interfaces, build stability, and improved modeling fidelity for Alexander V1. Business value: reliable state communication, reduced build failures, and enhanced simulation capabilities.
5 Commits • 3 Features
May 1, 2025May 2025 monthly summary for ihmc-alexander-sdk. Focused on delivering robust ROS messaging interfaces, build stability, and improved modeling fidelity for Alexander V1. Business value: reliable state communication, reduced build failures, and enhanced simulation capabilities.
May 2025
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Quality Metrics
Correctness96.0%
Maintainability96.0%
Architecture94.0%
Performance92.0%
AI Usage20.0%
Skills & Technologies
Programming Languages
C++CMakeIDLOBJURDFXMLmsg
Technical Skills
3D ModelingBuild EngineeringBuild System ConfigurationC++CMakeConfiguration ManagementGradleKotlinMessage DefinitionPackage ManagementROSRoboticsSimulationURDFURDF Modeling
Repositories Contributed To
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