This branch demos Valkyrie walking using DCM-based planning.
Youtube video Available here: https://youtu.be/ih9tgxxgMcI
Installation Instructions
# Install Git LFS
https://git-lfs.github.com/
# Install gtest
see Script/gtest_install_hints.txt
# Clone this branch recursively
mkdir -p ~/Repository
cd ~/Repository/
git clone --recursive https://github.com/stevenjj/PnC.git
# Pull the large files
git lfs install
git lfs pull
# Install Dart
cd PnC
source Script/install_sim.sh
# Compile the code
cd ~/Repository/PnC
mkdir build
cd build
cmake ..
make -j4
# Run Valkyrie example
./build/bin/run_valkyrie
Press Spacebar to start the simulation
Press WASDEQ keys to walk the robot
Press JK keys to raise/lower the right arm.