Underactuated Robotics

Algorithms for Walking, Running, Swimming, Flying, and Manipulation

http://underactuated.mit.edu/

Follow the installation instructions in http://underactuated.mit.edu/underactuated.html?ch=drake

To view the text locally

Make sure to initialize the submodules:

git submodule init
git submodule update

The textbook should then be viewable by opening underactuated.html in your browser.

You'll need to run a local webserver for the code includes (via ajax) to work. I used the instructions at https://websitebeaver.com/set-up-localhost-on-macos-high-sierra-apache-mysql-and-php-7-with-sslhttps and just pointed by root doc directory directly at my underactuated checkout.

To run the unit tests

$ mkdir build && cd build
$ cmake -Ddrake_DIR=PATH_TO_DRAKE/lib/cmake/drake ..
$ make
$ ctest .

To get experimental drake binaries

As described at http://github.com/RobotLocomotion/drake/issues/7926, use

On your drake PR, use

@drake-jenkins-bot linux-xenial-unprovisioned-gcc-bazel-experimental-snopt-packaging please
@drake-jenkins-bot mac-highsierra-unprovisioned-clang-bazel-experimental-snopt-packaging please

Then examine the last lines of the console output from those builds for the binary urls.