Running the demo:

Reload, Start and Pause the animation using the toolbox on the right.
Activate the main window by clicking on it:
 -> rotate the camera with the mouse (left-click + mouse move)
 -> change desired speed by pressing '+' or '-' (or use the mouse wheel instead)
 -> request a 'sit' by pressing 's' while the dog is standing (requires '0' desired speed)
 -> hold down the 'SHIFT' key and drag the hips or torso to apply an external force
 -> check the 'Add terrain' checkbox and restart the simulation to add variable terrain.


