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Welcome to the documentation for the lipm_walking_controller version 1.6.

The easiest way to get started with the controller is to use its Docker image:

xhost +local:docker
docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix:rw stephanecaron/lipm_walking_controller lipm_walking --floor

Alternatively, you can follow the instructions to build from source.

Learn how the code is organized on the code overview page.