biped.txt: info on biped structure
stand: example balancer
walk1: example FSM walking code
useful: utility code
lib: drawstuff/ode code (I use ODE's drawstuff package for graphics)
mrdplot: MATLAB code to display data

In display.c need to set this line appropriately:
  fn.path_to_textures = "C:/cga/seegrid/cga-sim-windows-002/useful/drawstuff/textures";

The code was compiled with
Visual C++ 9.0 Express Edition =
Microsoft Visual C++ 2008 Express Edition

