This repo hosts simulator and controller code for biped robots. The controller implements Upper Body Vertical Control method.

I've stumbled upon UVC method while researching bipedal robots and found it very promising. This codebase is intended for further experimentation on this method and applying it to real robots.

Prerequisites:

1. At least Visual Studio 2022 v17.2.4 64-bit with C/C++ workloads
2. vcpkg cloned, built and VCPKG_ROOT env variable set

Building src project:

1. Open src folder in Visual Studio.
2. Everything should build, provided vcpkg and cmake are available.
3. HW interactions have been stubbed out, so it builds but won't really do anything. Please run and build the tests projects to see the code in action.

Building sim project:

1. ode-0.16.3 should be downloaded and built separately. Basically same workflow should work: open folder in Visual Studio, and build.
2. ODE drawstuff library textures should be put under C:\ode-0.13\drawstuff\textures (the path is hardcoded, sorry)
3. Open sim folder in Visual Studio. ode dependency paths are hardcoded in sim/CMakeLists.txt, so if you're building under something different that x64-windows, things will most likely need manual intervention.
4. Build and run.

Original author of the code is Dr.Guero. Code was imported from http://ai2001.ifdef.jp/ at 10-16-2023. Translation from Japanese and further modifications were made by yours truly.

Please refer to original license at http://ai2001.ifdef.jp/.