calishulz / underactuated

The course text for MIT 6.832 (and 6.832x on edX)

Underactuated Robotics

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

http://underactuated.mit.edu/

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

To view the text locally

Make sure to initialize the submodules:

git submodule update --init --recursive

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 linters and unit tests

bazel test //...

If you would like to bazel to use a local installation of drake, you can set the DRAKE_INSTALL_DIR environment variable. Otherwise it will look in /opt/drake.

To get experimental Drake binaries

Please see the relevant Drake documentation.