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.