Fast and Flexible Multilegged Locomotion Using Learned Centroidal Dynamics, in proc. ACM SIGGRAPH 2020

Adaptive Tracking of a Single-Rigid-Body Character in Various Environments, In proc. ACM SIGGRAPH ASIA 2023

Target platform

Linux and MacOS.

How to build (Linux)

1. First, install necessary dependencies. This probably installs more than actually necessary:

	sudo apt install libfltk1.3-dev libreadline-dev  wxpython-tools
	cd dependenceies/lua5.1; make install_linux 
  mkdir ogre-next-source;  cd ogre-next-source; git clone https://github.com/OGRECave/ogre-next.git; cd ogre-next; git checkout 50bbee7d
	cd dependenceies/ogre-next3; cp -rf ../ogre-next-source/ogre-next/* . 

Then you need to apply the patch file in the dependencies/ogre-next3 as follows (untested. you can do this manually by looking at the patch file).

    cd dependences/ogre-next3;patch -p0 < ogre-latest_50bbee7d.patch

2. Now you can build ogre-next (latest):

   cd dependencies/ogre-next3
make linuxbuild

3. Also install python3 and pip3 (versions do not matter.)

4. Now, build this project.

	pip3 install stable-baselines3 torch numpy gymnasium
  cd src; make

This should work on any versions of ubuntu.

How to build (Mac)

1. First, install necessary dependencies:

  brew install fltk eigen gsl cmake 
  pip3 install wxPython
	cd dependenceies/lua5.1; make install_macosx 
  mkdir ogre-next-source;  cd ogre-next-source; git clone https://github.com/OGRECave/ogre-next.git; cd ogre-next; git checkout -b v2-3 remotes/origin/v2-3
	cd dependenceies/ogre-next3; cp -rf ../ogre-next-source/ogre-next/* . 

Then you need to apply the patch file in the dependencies/ogre-next3 as follows (untested. you can do this manually by looking at the patch file).

	cd dependences/ogre-next3/ogre-next-deps/src/freetype/src;git checkout -f gzip/zconf.h;patch -p1 gzip/zconf.h < ../../../../zconf.patch
    cd dependences/ogre-next3;patch -p0 < ogre-latest_50bbee7d.patch

2. Now you can build ogre-next3 (latest):

   cd dependencies/ogre-next3
make macbuild

3. Also install python3 and pip3 (versions do not matter.)

4. Now, build this project.

  cd src; make 

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

How to run FlexLoco 2020

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

Choose the opengl or metal renderer if asked to choose one. Also, on Linux, choose 1920x1080 resolution. If you already chose a different resolution, re-try after deleting ogre2_linux.cf2_linux.cfg 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 run AdaptiveSRB 2023

  cd work; make walk 

The folder structure

I will explain the folder structure of this project.

work/gym_cdm2 contains the source codes of "Adaptive Tracking of a Single-Rigid-Body Character in Various Environments".

work/gym_walkCDM contains the source codes of "Fast and Flexible Multilegged Locomotion Using Learned Centroidal Dynamics".

src/taesooLib contains the taesooLib. All of my research projects rely on this library, which contains C++ code related to motion loading, inverse kinematics (IK), rendering, and more.

src/taesooLib/BaseLib contains the core library which is GUI-independent.

src/taesooLib/MainLib extends the core library with Ogre3D and FLTK-based GUI components.

src/taesooLib/PhysicsLib contains a few rigid-body simulators.

src/taesooLib/MainLib/WrapperLua/luna_mainlib.lua defines the functions and classes that can be used in lua scripts.

src/taesooLib/MainLib/python/MainlibPython.hpp defines the functions and classes that can be used in python scripts.