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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 [email protected]
  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