Quadruped Drake

This repository contains code for the simulation and control of quadruped robots using Drake.

Dependencies

Clone this repository: git clone https://github.com/vincekurtz/quadruped_drake.git

Compile C++ code (includes TOWR and custom LCM bindings for interface with drake):

mkdir -p build
cd build
cmake ..
make

Start the drake visualizer bazel-bin/tools/drake_visualizer.

Run the simulation script ./simulate.py.

Name		Name	Last commit message	Last commit date
Latest commit History 74 Commits
controllers		controllers
lcm_types		lcm_types
models		models
planners		planners
towr		towr
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
demo.gif		demo.gif
helpers.py		helpers.py
simulate.py		simulate.py