> Although my project builds, I notice that it gives me a warning that
> WalkMC is a noop because my target does not have legs. However, I
> define that the target has legs in my KHR2Info.h file, which is
> included in the RobotInfo files, which is included in Config.h,
> which is included in WalkMC. WalkMC seems to be the only walk
> command that has a problem with this.
>

There are some #define flags which declare basic capabilities, for
instance TGT_HAS_LEGS. So if that is not defined by your Info.h file,
then things like WalkMC will be #ifdef'd out.

See Shared/CommonERSInfo.h for an extended example. Note the #define
TGT_HAS_* list is itself wrapped by a #ifdef TGT_XXX to make sure the
flags are only set if the corresponding robot model is targeted. (see
also http://tekkotsu.org/porting.html )

BTW, I'd encourage you to upgrade in CVS, there's a new walk engine
XWalkMC which may be a little more flexible, or at least is getting
active development. This will probably replace the old WalkMC someday
(should already do so except haven't created walk parameter files for
the Aibos which use WalkMC...)

-Ethan