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.