This project will be building a controller for the Unitree A1 Quadruped.
These running instructions and some starter code taken as is from here
This pulls in Drake via the Bazel workspace mechanism.
For an introduction to Bazel, refer to Getting Started with Bazel.
First, install the required Ubuntu packages:
sudo ../scripts/setup/linux/ubuntu/focal/install_prereqs
For Mac -
../scripts/setup/mac/install_prereqs
Then, to build and test all apps:
bazel test //...
As an example to run a binary directly:
bazel run //apps:quad_simulation
You may also run the binary directly per the bazel-bin/... path that the
above command prints out; however, be aware that your working directories may
cause differences. This is important when using tools like
drake::FindResource / pydrake.common.FindResource.
You may generally want to stick to using bazel run when able.