2024-03-07 11:54:33 +08:00
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# rl_sim2sim
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[English document](README.md)
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## 准备
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拉取代码（同步拉取子模块）
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```bash
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git clone --recursive https://github.com/fan-ziqi/rl_sim2sim.git
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```
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如有更新：
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```bash
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git pull
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git submodule update --remote --recursive
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```
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在任意位置下载并部署`libtorch`
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```bash
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cd /path/to/your/torchlib
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wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
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unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
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echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
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```
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安装 `teleop-twist-keyboard`
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```bash
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sudo apt install ros-noetic-teleop-twist-keyboard
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```
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## 编译
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自定义代码中的以下两个函数，以适配不同的模型：
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```cpp
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torch::Tensor forward() override;
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torch::Tensor compute_observation() override;
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```
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然后到根目录编译
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```bash
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cd ..
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catkin build
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```
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## 运行
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将训练好的pt模型文件拷贝到`sim2sim/src/unitree_rl/models`中
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新建终端，启动gazebo仿真环境
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```bash
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source devel/setup.bash
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roslaunch unitree_rl start_env.launch
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```
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新建终端，启动控制程序
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```bash
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source devel/setup.bash
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rosrun unitree_rl unitree_rl
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```
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新建终端，键盘控制程序
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```bash
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rosrun teleop_twist_keyboard teleop_twist_keyboard.py
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```
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2024-03-14 00:18:32 +08:00
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> 部分代码参考https://github.com/mertgungor/unitree_model_control
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0.003563, 0.001512, -0.101311
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-0.026536, 0.062404, 0.000014
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-0.000302, 0.000558, -0.011532, 0.999933
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0.499042, 1.120411, -2.696528, -0.497325, 1.120405, -2.696527, 0.495533, 1.120391, -2.696531, -0.493813, 1.120387, -2.696530
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0.838333, 0.031000, -0.103122, -0.768373, -0.006074, 0.000378, 0.669494, 0.020684, -0.066489, -0.588053, -0.004475, 0.000998
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-0.014956, -0.002124, 0.007345
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0.005116, 0.010299, -0.021976, 0.999692
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0.484257, 0.969105, -2.556143, -0.369799, 1.061818, -2.635455, 0.314972, 1.066411, -2.661583, -0.353911, 1.047658, -2.649109
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0.000000, 0.000000, 0.012878, 0.000000, -0.012878, 0.127060, 0.006010, 0.000000, -0.050652, 0.042926, -0.024897, -0.091003
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0.146841, 1.004310, -1.390954, -0.053719, 0.855462, -1.598009, -0.011909, 0.792030, -1.664962, -0.052048, 1.163194, -1.519249
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-0.062282, -0.523800, 0.810542, 0.027546, -0.772218, 1.406845, -0.005030, -0.555534, 1.106206, 0.010507, -0.411735, 0.578516
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