{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1468","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1468/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1468/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1468/events","html_url":"https://github.com/RobotLocomotion/drake/pull/1468","id":118690657,"number":1468,"title":"valkyrie control","user":{"login":"mauricefallon","id":6404227,"avatar_url":"https://avatars.githubusercontent.com/u/6404227?v=3","gravatar_id":"","url":"https://api.github.com/users/mauricefallon","html_url":"https://github.com/mauricefallon","followers_url":"https://api.github.com/users/mauricefallon/followers","following_url":"https://api.github.com/users/mauricefallon/following{/other_user}","gists_url":"https://api.github.com/users/mauricefallon/gists{/gist_id}","starred_url":"https://api.github.com/users/mauricefallon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mauricefallon/subscriptions","organizations_url":"https://api.github.com/users/mauricefallon/orgs","repos_url":"https://api.github.com/users/mauricefallon/repos","events_url":"https://api.github.com/users/mauricefallon/events{/privacy}","received_events_url":"https://api.github.com/users/mauricefallon/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/approved%20for%20build%20servers","name":"approved for build servers","color":"009800"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2015-11-24T19:58:07Z","updated_at":"2015-11-25T16:02:53Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1468","html_url":"https://github.com/RobotLocomotion/drake/pull/1468","diff_url":"https://github.com/RobotLocomotion/drake/pull/1468.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1468.patch"},"body":"I've been able to make Val walk & balance in drake, basically by modifying all the Atlas example code where needed and making a few small changes to drake/systems where things were not generalized fully.\r\n\r\nthe only robot-specific changes I made were to move the LIP z-height ... which means that the walking controller was really well written. Kudos ;)\r\n(Though the Valkyrie model is <very> similar in stucture to Atlas.)\r\n\r\nHere's one video:\r\nhttps://www.dropbox.com/s/bk070em5v6cqx5f/walkingA.m4v?dl=0\r\nAnd a number of others for balancing and other tests are here:\r\nhttps://www.dropbox.com/sh/ccquv2map95vvms/AAC-fJHa3Ij0S2DTJUL7brl1a?dl=0\r\n\r\nI'm creating a pull request, but mostly to get feedback. It should be easy to run:\r\n- runValkyrieWalking, runValkyrieBalance and runValkyrieBalancePerturb\r\n\r\nSo, where should this live? \r\n@RussTedrake : you mentioned putting this in a separate examples repo before like littledog?\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/159655214","html_url":"https://github.com/RobotLocomotion/drake/pull/1468#issuecomment-159655214","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1468","id":159655214,"user":{"login":"patmarion","id":90784,"avatar_url":"https://avatars.githubusercontent.com/u/90784?v=3","gravatar_id":"","url":"https://api.github.com/users/patmarion","html_url":"https://github.com/patmarion","followers_url":"https://api.github.com/users/patmarion/followers","following_url":"https://api.github.com/users/patmarion/following{/other_user}","gists_url":"https://api.github.com/users/patmarion/gists{/gist_id}","starred_url":"https://api.github.com/users/patmarion/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/patmarion/subscriptions","organizations_url":"https://api.github.com/users/patmarion/orgs","repos_url":"https://api.github.com/users/patmarion/repos","events_url":"https://api.github.com/users/patmarion/events{/privacy}","received_events_url":"https://api.github.com/users/patmarion/received_events","type":"User","site_admin":false},"created_at":"2015-11-25T16:02:53Z","updated_at":"2015-11-25T16:02:53Z","body":"Note: the Atlas meshes and urdf are forked to two places:  one copy in openhumanoids, one copy in drake/examples.  I'm not sure about drake, but for openhumanoids we have a script that takes the osrf original and applies all our patches and conversions to output the files we use in our system."}}