removed -j4 flag, may cause error for some computer.

README.md

@@ -1,6 +1,6 @@
 # Cassie Gait Library Optimization using C-FROST
 
-This repository contains an example using C-FROST to generate a library of walking gaits for Cassie series robot. The code depends on [FROST](https://github.com/ayonga/frost-dev) and [C-FROST](https://github.com/UMich-BipedLab/C-Frost). The Cassie model used in this example can be found [here](https://github.com/UMich-BipedLab/Cassie_Model). These dependant packages are also included as [git submodules](https://git-scm.com/book/en/v2/Git-Tools-Submodules) for convenience. 
+This repository contains an example using C-FROST to generate a library of walking gaits for Cassie series robot. The code depends on [FROST](https://github.com/ayonga/frost-dev) and [C-FROST](https://github.com/UMich-BipedLab/C-Frost). The Cassie model used in this example can be found [here](https://github.com/UMich-BipedLab/Cassie_Model). These dependant packages are also included as [git submodules](https://git-scm.com/book/en/v2/Git-Tools-Submodules) for convenience.
 
 This example has been tested on Ubuntu 16.04 and Windows Subsystem on Linux (WSL).
 
@@ -24,15 +24,15 @@ To run the optimization using C-FROST, first needs to set up the problem in MATL
 
 ## Generate functions for system dynamics ##
 
-First, run [`gen_lib.m`](https://github.com/UMich-BipedLab/Cassie_CFROST/blob/master/Cassie_Example/cassie_dynamics_library/gen_lib.m) script in MATLAB. This process may take a while to finish. By default, we drop the velocity terms ($C(q)\dot{q}$) from the dynamics equation. To include them, set `OMIT_CORIOLIS` to `false` in `gen_lib.m` script, and re-run the script. After successfully run the script in matlab, you should find three new directories, `src`, `include`, and `mex`. 
+First, run [`gen_lib.m`](https://github.com/UMich-BipedLab/Cassie_CFROST/blob/master/Cassie_Example/cassie_dynamics_library/gen_lib.m) script in MATLAB. This process may take a while to finish. By default, we drop the velocity terms ($C(q)\dot{q}$) from the dynamics equation. To include them, set `OMIT_CORIOLIS` to `false` in `gen_lib.m` script, and re-run the script. After successfully run the script in matlab, you should find three new directories, `src`, `include`, and `mex`.
 
 In terminal, run the following to compile the static library:
 ``` shell
 cd ~/Cassie_CFROST/Cassie_Example/cassie_dynamics-library
 mkdir build
 cd build
 cmake ..
-make -j4
+make
 make install
 ```
 
@@ -56,7 +56,7 @@ cd ~/Cassie_CFROST/Cassie_Example/opt_two_step/periodic/c_code
 mkdir build
 cd build
 cmake ..
-make -j4
+make
 make install
 cd ..
 ```
@@ -80,7 +80,7 @@ C-FROST will export the optimization results to the specified JSON file. This ca
 
 With C-FROST, it is easy to run multiple gait optimization in parallel. You do not need to recompile the program as long as these optimizations use the same problem strcuture (same set of variables, constraints and cost functions). To run multiple optimization with different bounds, you would need to generate the bound JSON files for all optimization a priori.
 
-In this example, we generate 11x11x11=1,331 gaits with different walking speeds and ground inclinations. This can be done by changing the constraints bounds in the same optimization problem. 
+In this example, we generate 11x11x11=1,331 gaits with different walking speeds and ground inclinations. This can be done by changing the constraints bounds in the same optimization problem.
 
 In MATLAB, run [`generate_multiple_bounds.m`](https://github.com/UMich-BipedLab/Cassie_CFROST/blob/master/Cassie_example/opt_two_step/generate_multiple_bounds.m) script to generate all bound files first. The process may take a while to finish.
 
@@ -95,5 +95,3 @@ time parallel ./program --initial 'res/init.json' --options '../ipopt.opt' --dat
 ```
 
 The optimization results will be saved to `local/output/` folder, and the terminal outputs will be save to `local/log` folder. The scripts [`export_all_gaits.m`](https://github.com/UMich-BipedLab/Cassie_CFROST/blob/master/Cassie_example/opt_two_step/export_all_gaits.m) and [`check_logs.m`](https://github.com/UMich-BipedLab/Cassie_CFROST/blob/master/Cassie_example/opt_two_step/check_logs.m) can be used to import the resuls into MATLAB and check the log files.
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