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docs: simplified readme dependency installation #24
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README.md
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README.md
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[中文文档](README_CN.md)
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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"
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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"
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This framework supports legged_gym based on IaacGym and IsaacLab based on IsaacSim. Use `framework` to distinguish.
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feature:
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- Support legged_gym based on IaacGym and IsaacLab based on IsaacSim. Use `framework` to distinguish.
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- The code supports both cpp and python, you can find python version in `src/rl_sar/scripts`
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[Click to discuss on Discord](https://discord.gg/vmVjkhVugU)
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@ -18,12 +20,10 @@ git clone https://github.com/fan-ziqi/rl_sar.git
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## Dependency
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This project relies on ROS Noetic (Ubuntu 20.04)
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After installing ROS, install the dependency library
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This project uses `ros-noetic` (Ubuntu 20.04) and requires the installation of the following ROS dependency packages:
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```bash
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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
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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
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```
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Download and deploy `libtorch` at any location
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echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
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```
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Install `yaml-cpp` and `lcm`. If you are using Ubuntu, you can directly use the package manager for installation:
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```bash
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sudo apt install liblcm-dev libyaml-cpp-dev
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```
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<details>
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<summary>You can also use source code installation, click to expand</summary>
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Install yaml-cpp
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```bash
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@ -48,12 +58,13 @@ sudo ldconfig
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Install lcm
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```bash
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git clone https://github.com/lcm-proj/lcm.git
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git clone https://github.com/lcm-proj/lcm.git
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cd lcm && mkdir build && cd build
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cmake .. && make
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sudo make install
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sudo ldconfig
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```
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</details>
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## Compilation
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25
README_CN.md
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README_CN.md
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@ -2,9 +2,11 @@
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[English document](README.md)
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机器人强化学习算法的仿真验证与实物部署，适配四足机器人、轮足机器人、人形机器人。"sar"代表"simulation and real"
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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"
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本框架支持基于IaacGym的legged_gym，也支持基于IsaacSim的IsaacLab，用`framework`加以区分。
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特性：
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- 支持基于IaacGym的legged_gym，也支持基于IsaacSim的IsaacLab，用`framework`加以区分。
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- 代码有python和cpp两个版本，python版本可以在`src/rl_sar/scripts`中找到
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[点击在Discord上讨论](https://discord.gg/MC9KguQHtt)
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@ -18,12 +20,10 @@ git clone https://github.com/fan-ziqi/rl_sar.git
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## 依赖
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本项目依赖ROS-Noetic(Ubuntu20.04)
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安装好ros之后安装依赖库
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本项目使用`ros-noetic`(Ubuntu20.04)，且需要安装以下的ros依赖包
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```bash
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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
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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
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```
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在任意位置下载并部署`libtorch`
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echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
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```
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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
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```bash
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sudo apt install liblcm-dev libyaml-cpp-dev
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```
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<details>
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<summary>也可以使用源码安装，点击展开</summary>
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安装yaml-cpp
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```bash
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@ -48,12 +58,13 @@ sudo ldconfig
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安装lcm
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```bash
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git clone https://github.com/lcm-proj/lcm.git
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git clone https://github.com/lcm-proj/lcm.git
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cd lcm && mkdir build && cd build
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cmake .. && make
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sudo make install
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sudo ldconfig
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```
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</details>
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## 编译
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