How to use the graphical user interface?
After executing instructions from the Usage section of the README, you should see the following windows:
At startup, the controller is in the Initial state of its finite state machine (FSM), doing nothing but holding the robot posture.
Click on Start standing to go to the Standing state of the FSM and enable the stabilizer:
You can now select a footstep plan from the corresponding dialog.
Click on Start walking to execute the plan:
While walking, the controller switches between the SingleSupport and DoubleSupport states of the FSM. Once walking is over, the FSM switches back to the Standing state.