# underactuated

**Repository Path**: richardurben/underactuated

## Basic Information

- **Project Name**: underactuated
- **Description**: The course text for MIT 6.832 (and 6.832x on edX)
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2019-12-15
- **Last Updated**: 2026-07-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

Underactuated Robotics
======================

*Algorithms for Walking, Running, Swimming, Flying, and Manipulation*

<http://underactuated.mit.edu/>

Follow the installation instructions in 
http://underactuated.mit.edu/underactuated.html?ch=drake


To view the text locally
------------------------

Make sure to initialize the submodules:

```
git submodule update --init --recursive
```

The textbook should then be viewable by opening `underactuated.html` in your
browser.

You'll need to run a local webserver for the code includes (via ajax) to work. I
used the instructions at 
https://websitebeaver.com/set-up-localhost-on-macos-high-sierra-apache-mysql-and-php-7-with-sslhttps
and just pointed by root doc directory directly at my underactuated checkout.


To run the unit tests
---------------------

```
$ mkdir build && cd build
$ cmake -Ddrake_DIR=PATH_TO_DRAKE/lib/cmake/drake ..
$ make
$ ctest .
```



To get experimental drake binaries
-----------------------------------

As described at http://github.com/RobotLocomotion/drake/issues/7926, use

On your drake PR, use
```
@drake-jenkins-bot linux-bionic-unprovisioned-gcc-bazel-experimental-snopt-packaging please
@drake-jenkins-bot mac-mojave-unprovisioned-clang-bazel-experimental-snopt-packaging please
```
Then examine the last lines of the console output from those builds for the 
binary urls.