31 lines
738 B
Markdown
31 lines
738 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/nightly/cpu/libtorch-shared-with-deps-latest.zip
|
|
unzip libtorch-shared-with-deps-latest.zip
|
|
rm -rf libtorch-shared-with-deps-latest.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
|
|
```
|
|
|
|
## 3. Launch
|
|
* Unitree A1 Robot
|
|
```bash
|
|
source ~/ros2_ws/install/setup.bash
|
|
ros2 launch a1_description rl_control.launch.py
|
|
``` |