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README.md
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[中文文档](README_CN.md) [中文文档](README_CN.md)
Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "Sar" stands for "simulation and real" Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" stands for "simulation and real"
## Preparation ## Preparation
@ -14,6 +14,14 @@ git clone https://github.com/fan-ziqi/rl_sar.git
## Dependency ## Dependency
This project relies on ROS Noetic (Ubuntu 20.04)
After installing ROS, install the dependency library
```bash
sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-controller-interface ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller
```
Download and deploy `libtorch` at any location Download and deploy `libtorch` at any location
```bash ```bash
@ -23,12 +31,6 @@ unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
``` ```
Install dependency packages
```bash
sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-controller-interface ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller
```
Install yaml-cpp Install yaml-cpp
```bash ```bash
@ -122,7 +124,7 @@ Please cite the following if you use this code or parts of it:
``` ```
@software{fan-ziqi2024rl_sar, @software{fan-ziqi2024rl_sar,
author = {fan-ziqi}, author = {fan-ziqi},
title = {{rl_sar: Simulation Verification and Physical Deployment of the Quadruped Robot's Reinforcement Learning Algorithm.}}, title = {{rl_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm.}},
url = {https://github.com/fan-ziqi/rl_sar}, url = {https://github.com/fan-ziqi/rl_sar},
year = {2024} year = {2024}
} }

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README_CN.md
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## 依赖 ## 依赖
本项目依赖ROS-Noetic(Ubuntu20.04)
安装好ros之后安装依赖库
```bash
sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-controller-interface ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller
```
在任意位置下载并部署`libtorch` 在任意位置下载并部署`libtorch`
```bash ```bash
@ -23,12 +31,6 @@ unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
``` ```
安装依赖库
```bash
sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-controller-interface ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller
```
安装yaml-cpp 安装yaml-cpp
```bash ```bash
@ -122,7 +124,7 @@ OR 按下键盘上的**0**键让机器人切换到默认站起姿态，按下**P
``` ```
@software{fan-ziqi2024rl_sar, @software{fan-ziqi2024rl_sar,
author = {fan-ziqi}, author = {fan-ziqi},
title = {{rl_sar: Simulation Verification and Physical Deployment of the Quadruped Robot's Reinforcement Learning Algorithm.}}, title = {{rl_sar: Simulation Verification and Physical Deployment of Robot Reinforcement Learning Algorithm.}},
url = {https://github.com/fan-ziqi/rl_sar}, url = {https://github.com/fan-ziqi/rl_sar},
year = {2024} year = {2024}
} }