Algorithms for Walking, Running, Swimming, Flying, and Manipulation
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
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.
Boilerplate on hypothes.is etiquette: For typos and small corrections, please remove your comment once it has been addressed.
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
DRAKE_INSTALL_DIR environment variable. Otherwise it will look in
To get experimental Drake binaries
Please see the relevant Drake documentation.
Additional information for Docker Hub users
Supported tags and respective
Maintained by: Russ Tedrake
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