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rl_sar
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docs: 

1. correct typo in README files for IsaacGym
2. clarify the installation process of libtorch
3. update acknowledgements
4. add [NOTE]
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fan-ziqi 2025-01-15 15:01:22 +08:00
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15
README.md
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@ -7,11 +7,14 @@
This repository provides a framework for 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" This repository provides a framework for 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"
feature: feature:
- Support legged_gym based on IaacGym and IsaacLab based on IsaacSim. Use `framework` to distinguish. - Support legged_gym based on IsaacGym and IsaacLab based on IsaacSim. Use `framework` to distinguish.
- The code has two versions: **ROS** and **ROS2** - The code has two versions: **ROS** and **ROS2**
- The code supports both cpp and python, you can find python version in `src/rl_sar/scripts` - The code supports both cpp and python, you can find python version in `src/rl_sar/scripts`
[Click to discuss on Discord](https://discord.gg/vmVjkhVugU) > [!NOTE]
> If you want to train policy using IsaacLab(IsaacSim), please use [robot_lab](https://github.com/fan-ziqi/robot_lab) project.
>
> [Click to discuss on Discord](https://discord.gg/vmVjkhVugU)
## Preparation ## Preparation
@ -32,10 +35,11 @@ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-ros2-cont
Download and deploy `libtorch` at any location Download and deploy `libtorch` at any location
```bash ```bash
cd /path/to/your/torchlib cd /path/to/your/libtorch
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./ 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/libtorch' >> ~/.bashrc
source ~/.bashrc
``` ```
Install `yaml-cpp` and `lcm`. If you are using Ubuntu, you can directly use the package manager for installation: Install `yaml-cpp` and `lcm`. If you are using Ubuntu, you can directly use the package manager for installation:
@ -183,7 +187,7 @@ 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 Robot 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}
} }
@ -194,4 +198,5 @@ Please cite the following if you use this code or parts of it:
The project uses some code from the following open-source code repositories: The project uses some code from the following open-source code repositories:
- [unitreerobotics/unitree_guide](https://github.com/unitreerobotics/unitree_guide) - [unitreerobotics/unitree_guide](https://github.com/unitreerobotics/unitree_guide)
- [mertgungor/unitree_model_control](https://github.com/mertgungor/unitree_model_control)
- The code in [src/rl_sar/scripts/actuator_net.py](src/rl_sar/scripts/actuator_net.py) is modified from [scripts/actuator_net](https://github.com/Improbable-AI/walk-these-ways/tree/master/scripts/actuator_net) in the [Improbable-AI/walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) repository. - The code in [src/rl_sar/scripts/actuator_net.py](src/rl_sar/scripts/actuator_net.py) is modified from [scripts/actuator_net](https://github.com/Improbable-AI/walk-these-ways/tree/master/scripts/actuator_net) in the [Improbable-AI/walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) repository.

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README_CN.md
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@ -7,11 +7,14 @@
本仓库提供了机器人强化学习算法的仿真验证与实物部署框架，适配四足机器人、轮足机器人、人形机器人。"sar"代表"simulation and real" 本仓库提供了机器人强化学习算法的仿真验证与实物部署框架，适配四足机器人、轮足机器人、人形机器人。"sar"代表"simulation and real"
特性： 特性：
- 支持基于IaacGym的legged_gym，也支持基于IsaacSim的IsaacLab，用`framework`加以区分。 - 支持基于IsaacGym的legged_gym，也支持基于IsaacSim的IsaacLab，用`framework`加以区分。
- 代码有**ROS**和**ROS2**两个版本 - 代码有**ROS**和**ROS2**两个版本
- 代码有python和cpp两个版本，python版本可以在`src/rl_sar/scripts`中找到 - 代码有python和cpp两个版本，python版本可以在`src/rl_sar/scripts`中找到
[点击在Discord上讨论](https://discord.gg/MC9KguQHtt) > [!NOTE]
> 如果你想使用IsaacLab（IsaacSim）训练策略，请使用[robot_lab](https://github.com/fan-ziqi/robot_lab)项目。
>
> [点击在Discord上讨论](https://discord.gg/MC9KguQHtt)
## 准备 ## 准备
@ -32,10 +35,11 @@ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-ros2-cont
在任意位置下载并部署`libtorch` 在任意位置下载并部署`libtorch`
```bash ```bash
cd /path/to/your/torchlib cd /path/to/your/libtorch
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./ 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/libtorch' >> ~/.bashrc
source ~/.bashrc
``` ```
安装`yaml-cpp`和`lcm`，若您使用Ubuntu，可以直接使用包管理器进行安装 安装`yaml-cpp`和`lcm`，若您使用Ubuntu，可以直接使用包管理器进行安装
@ -183,7 +187,7 @@ ros2 run rl_sar rl_real_a1
``` ```
@software{fan-ziqi2024rl_sar, @software{fan-ziqi2024rl_sar,
author = {fan-ziqi}, author = {fan-ziqi},
title = {{rl_sar: Simulation Verification and Physical Deployment of Robot 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}
} }
@ -194,5 +198,6 @@ ros2 run rl_sar rl_real_a1
本项目使用了以下开源代码库中的部分代码： 本项目使用了以下开源代码库中的部分代码：
- [unitreerobotics/unitree_guide](https://github.com/unitreerobotics/unitree_guide) - [unitreerobotics/unitree_guide](https://github.com/unitreerobotics/unitree_guide)
- [mertgungor/unitree_model_control](https://github.com/mertgungor/unitree_model_control)
- [src/rl_sar/scripts/actuator_net.py](src/rl_sar/scripts/actuator_net.py) 中的代码修改自 [Improbable-AI/walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) 仓库中的 [scripts/actuator_net](https://github.com/Improbable-AI/walk-these-ways/tree/master/scripts/actuator_net) - [src/rl_sar/scripts/actuator_net.py](src/rl_sar/scripts/actuator_net.py) 中的代码修改自 [Improbable-AI/walk-these-ways](https://github.com/Improbable-AI/walk-these-ways) 仓库中的 [scripts/actuator_net](https://github.com/Improbable-AI/walk-these-ways/tree/master/scripts/actuator_net)