Initial part of the code is adapted from Cassie IK/ID. This repository contains the code for inverse kinematics and inverse dynamics of a Cassie robot, mainly using MuJoCo and Eigen.
To setup the project, you will need to install Bazel in your system. You can find instructions here.
After installing Bazel, you will need to install the dependencies and build the workspace. You can do this by running the following command:
bazel build --enable_bzlmod control:mainBazel will automatically download Mujoco and build Eigen for you.
To run the code, you can use the following command:
bazel run --enable_bzlmod control:main