translate

README.md

@@ -1,8 +1,23 @@
 # rl_sim2sim
 
-## 准备
+[中文文档](README_CN.md)
 
-在任意位置下载并部署`libtorch`
+## Preparation
+
+Pull the code (synchronously pull submodules)
+
+```bash
+git clone --recursive https://github.com/fan-ziqi/rl_sim2sim.git
+```
+
+If there are updates:
+
+```bash
+git pull
+git submodule update --remote --recursive
+```
+
+Download and deploy `libtorch` at any location
 
 ```bash
 cd /path/to/your/torchlib
@@ -11,47 +26,47 @@ unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
 echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
 ```
 
-安装 `teleop-twist-keyboard` 
+Install `teleop-twist-keyboard` 
 
 ```bash
 sudo apt install ros-noetic-teleop-twist-keyboard
 ```
 
-## 编译
+## Compilation
 
-自定义代码中的以下两个函数，以适配不同的模型：
+Customize the following two functions in the code to adapt to different models:
 
 ```cpp
 torch::Tensor forward() override;
 torch::Tensor compute_observation() override;
 ```
 
-然后到根目录编译
+Then compile in the root directory
 
 ```bash
 cd ..
 catkin build
 ```
 
-## 运行
+## Run
 
-将训练好的pt模型文件拷贝到`sim2sim/src/unitree_rl/models`中
+Copy the trained pt model file to `sim2sim/src/unitree_rl/models`
 
-新建终端，启动gazebo仿真环境
+Open a new terminal, start the gazebo simulation environment
 
 ```bash
 source devel/setup.bash
 roslaunch unitree_rl start_env.launch
 ```
 
-新建终端，启动控制程序
+Open a new terminal, start the control program
 
 ```bash
 source devel/setup.bash
 rosrun unitree_rl unitree_rl
 ```
 
-新建终端，键盘控制程序
+Open a new terminal, keyboard control program
 
 ```bash
 rosrun teleop_twist_keyboard teleop_twist_keyboard.py
@@ -59,4 +74,4 @@ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
 
 
 
-> 部分代码参考https://github.com/mertgungor/unitree_model_control
+> Part of the code refers to https://github.com/mertgungor/unitree_model_control

README_CN.md

@@ -0,0 +1,77 @@
+# rl_sim2sim
+
+[English document](README.md)
+
+## 准备
+
+拉取代码（同步拉取子模块）
+
+```bash
+git clone --recursive https://github.com/fan-ziqi/rl_sim2sim.git
+```
+
+如有更新：
+
+```bash
+git pull
+git submodule update --remote --recursive
+```
+
+在任意位置下载并部署`libtorch`
+
+```bash
+cd /path/to/your/torchlib
+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 ./
+echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
+```
+
+安装 `teleop-twist-keyboard` 
+
+```bash
+sudo apt install ros-noetic-teleop-twist-keyboard
+```
+
+## 编译
+
+自定义代码中的以下两个函数，以适配不同的模型：
+
+```cpp
+torch::Tensor forward() override;
+torch::Tensor compute_observation() override;
+```
+
+然后到根目录编译
+
+```bash
+cd ..
+catkin build
+```
+
+## 运行
+
+将训练好的pt模型文件拷贝到`sim2sim/src/unitree_rl/models`中
+
+新建终端，启动gazebo仿真环境
+
+```bash
+source devel/setup.bash
+roslaunch unitree_rl start_env.launch
+```
+
+新建终端，启动控制程序
+
+```bash
+source devel/setup.bash
+rosrun unitree_rl unitree_rl
+```
+
+新建终端，键盘控制程序
+
+```bash
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+```
+
+
+
+> 部分代码参考https://github.com/mertgungor/unitree_model_control