This repo builds on the code from vision_locomotion
Completely follow the steps of the original warehouse for installation
First:If you want to build this repo, please note that change the path on line 8 and 22,23, which is your torch package
tips:There may be a touch issue, like:
agile_locomotion::AgileLocomotion::loadParameters()': agile_locomotion.cpp:(.text+0x751): undefined reference to
as the installed version of c-torch is older. You can refer to this to solve the problem you are encountering.
Changing the control library version from a1 to go1
Correcting header files and CMakeList.txt
Finally, the code was successfully deployed on go1, achieving standing, walking, and obstacle crossing.
see:
