At the Package directory, start jupyter notebook by running jupyter notebook. All experiments are under the notebooks directory,
Run Equilibrium finder (ipopt).ipynb. This should save a file called ipopt_eq_poimt.toml that contains x_eq, u_eq, and \lambda_eq for eq state, control, and ground reaction forces.
Run MaximalCoordinateLqr.ipynb. This should output a delimited file called maximal_lqr_gain.txt that stores the 36x12 error feedback gain matrix.
Run BalanceSim.ipynb for a constrained semi-implicit euler integration simulation. It will load in ipopt_eq_poimt.toml and maximal_lqr_gain.txt.
For some documentation and examples on some of the core functions, run UsefulFunctions.ipynb.