26 lines
638 B
Markdown
26 lines
638 B
Markdown
|
# Legged Gym Controller
|
||
|
|
|
||
|
|
This repository contains the reinforcement learning based controllers for the quadruped robot.
|
||
|
|
|
||
|
|
Tested environment:
|
||
|
|
* Ubuntu 24.04
|
||
|
|
* ROS2 Jazzy
|
||
|
|
|
||
|
|
|
||
|
|
## 2. Build
|
||
|
|
|
||
|
|
### 2.1 Installing libtorch
|
||
|
|
```bash
|
||
|
|
cd ~/CLionProjects/
|
||
|
|
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
|
||
|
|
unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
|
||
|
|
rm libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip
|
||
|
|
echo 'export Torch_DIR=~/CLionProjects/libtorch' >> ~/.bashrc
|
||
|
|
```
|
||
|
|
|
||
|
|
### 2.2 Build Legged Gym Controller
|
||
|
|
```bash
|
||
|
|
cd ~/ros2_ws
|
||
|
|
colcon build --packages-up-to legged_gym_controller
|
||
|
|
```
|