This experimental directory does not adhere to the development practices that apply elsewhere in Drake. In particular, for PRs that affect only this directory, one feature review is sufficient; platform review is not required.
If build or test targets in this directory break, and the PR author or oncall buildcop cannot trivially resolve them, a GitHub issue will be assigned to the Valkyrie team. If the issue is not resolved within 24 hours, the author or buildcop may disable the offending targets.
To compile this example $ cd drake $ bazel build //tools:drake_visualizer //examples/valkyrie/...
To run the visualizer: $ cd drake $ bazel-bin/tools/drake_visualizer &
To run the pd + feedforward controller: $ cd drake $ bazel-bin/examples/valkyrie/valkyrie_pd_ff_controller &
To run the simulation: $ cd drake $ bazel-bin/examples/valkyrie/valkyrie_simulation &
The visualizer needs to be started before the simulator. The controller and simulator are not synchronized in any way, and they both try to run as fast as possible. For a bit more repeatability, start the controller first.
The controlled simulation eventually fails when the robot falls down, because the simple controller does not account for sliding feet.
Prior to 2016, Drake was built around a substantial base of MATLAB software. Most of that was removed from the head of git master during 2017.
To view or use the original MATLAB implementation of Valkyrie you may use this tag:
https://github.com/RobotLocomotion/drake/tree/last_sha_with_original_matlab/drake/examples/Valkyrie