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