/IPCDNNwalk

Fast and Flexible Multilegged Locomotion Using Learned Centroidal Dynamics

Primary LanguageC++OtherNOASSERTION

Fast and Flexible Multilegged Locomotion Using Learned Centroidal Dynamics

Target platform

Linux and MacOS.

How to build (Linux)

  1. First, install necessary dependencies. This probably installs more than actually necessary:
  sudo apt-get install python-gtk2 libeigen3-dev libsuitesparse-dev libfontconfig-dev libfltk1.1-dev libdevil-dev libfreeimage-dev liblua5.1-dev  lua5.1 cmake g++ libxml2-dev libncurses5-dev libois-dev libboost-all-dev libf2c2-dev libogre-1.9-dev
  1. Install the system-provided ogre library to /usr/lib/OGRE:
  sudo ln -s /usr/lib/x86_64-linux-gnu/OGRE-1.9.0 /usr/lib/OGRE
  1. Install more dependencies (after reading src/Makefile carefully):
  cd src; make install_dependencies
  1. Now, build it.
  cd src; make

If this does not work, please remove the system-provided libogre-1.9-dev, and install ogre3D-1.12 from source (see below), and retry the above steps (2-). (There are a few linux distros that provide libogre-1.9-dev which is broken.)

How to build (Mac)

  1. First, install necessary dependencies:
  brew install boost fltk eigen gsl cmake lua@5.1
  cd /usr/local/bin; ln -s lua5.1 lua

  1. Then, build Ogre 1.12 from sources (see below).

  2. Install more dependencies (after reading src/Makefile carefully):

  cd src; make install_dependencies_mac
  1. Now, build it.
  cd src; make mac

FYI, most linker and compiler settings are in src/taesoolib/Samples/Common_baselib.cmake and Common_mainlib.cmake files.

How to run

  pip3 install torch python3-tk gym
  cd work; python3 test_walk2.py gym_walkCDM/testWalkV2_FA.lua

Choose the opengl renderer if asked to choose one. Now, click the play button, and adjust the slider bars for speed/orientation. Also, you can change the motion type by clicking the button.

How to build ogre 3D from source codes (Linux)

  sudo apt-get install libgles2-mesa-dev libxt-dev libxaw7-dev nvidia-cg-toolkit libsdl2-dev doxygen
  mkdir -p build;cd build; cmake ..
  cd build;make
  cd build; sudo make install

How to build ogre 3D from source codes (Mac)

  brew install cmake sdl2 doxygen freeimage pkgconfig libzzip
  mkdir -p build;cd build; cmake -G Xcode .. 
  cd build; xed .
  1. Build "build-all" in the xcode after manually selecting the release build target.
  2. Build "install" in the xcode again after manually selecting the release build target.
  3. Now open a finder, and copy build/sdk to /Applications/OgreSDK
  4. Also, manually copy all frameworks in build/lib/macosx/Release/ to ~/Library/Frameworks/
  5. Copy build/sdk/include/OGRE to /usr/local/include/
  6. Install ois manually (https://github.com/wgois/OIS)
  git clone https://github.com/wgois/OIS.git
  cd OIS;cmake -H. -B./build; cd ./build; make; make install
  sudo cp build/Dependencies/lib/libzzip.so* /usr/local/lib/
  1. copy libfreetype*.dylib to /usr/local/lib