docs and contributors

CONTRIBUTORS.md

@@ -0,0 +1,21 @@
+# rl_sar Developers and Contributors
+
+This is the official list of rl_sar Project developers and contributors.
+
+To see the full list of contributors, please check the revision history in the source control.
+
+Guidelines for modifications:
+
+* Please keep the lists sorted alphabetically.
+* Names should be added to this file as: *individual names* or *organizations*.
+* E-mail addresses are tracked elsewhere to avoid spam.
+
+## Developers
+
+* Ziqi Fan
+
+## Contributors
+
+TODO add your name
+
+## Acknowledgements

README.md

@@ -108,7 +108,7 @@ Control:
 
 ### Real Robots
 
-**Example: Unitree A1**
+#### Unitree A1
 
 Unitree A1 can be connected using both wireless and wired methods:
 
@@ -126,6 +126,17 @@ Press the **R2** button on the controller to switch the robot to the default sta
 
 Or press **0** on the keyboard to switch the robot to the default standing position, press **P** to switch to RL control mode, and press **1** in any state to switch to the initial lying position. WS controls x-axis, AD controls yaw, and JL controls y-axis.
 
+#### Unitree Go2
+
+TODO 添加go2的使用说明
+
+Open a new terminal and start the control program
+
+```bash
+source devel/setup.bash
+rosrun rl_sar rl_real_go2
+```
+
 ### Train the actuator network
 
 1. Uncomment `#define CSV_LOGGER` in the top of `rl_real.cpp`. You can also modify the corresponding part in the simulation program to collect simulation data for testing the training process.
@@ -154,6 +165,12 @@ In the following text, `<ROBOT>` represents the name of the robot
 
 [unitree_ros](https://github.com/unitreerobotics/unitree_ros)
 
+## Contributing
+
+Wholeheartedly welcome contributions from the community to make this framework mature and useful for everyone. These may happen as bug reports, feature requests, or code contributions.
+
+[List of contributors](CONTRIBUTORS.md)
+
 ## Citation
 
 Please cite the following if you use this code or parts of it:

README_CN.md

@@ -109,7 +109,7 @@ source devel/setup.bash
 
 ### 真实机器人
 
-**示例：Unitree A1**
+#### Unitree A1
 
 与Unitree A1连接可以使用无线与有线两种方式
 
@@ -127,6 +127,17 @@ rosrun rl_sar rl_real_a1
 
 或者按下键盘上的**0**键让机器人切换到默认站起姿态，按下**P**键切换到RL控制模式，任意状态按下**1**键切换到最初的趴下姿态。WS控制x，AD控制yaw，JL控制y。
 
+#### Unitree Go2
+
+TODO 添加go2的使用说明
+
+新建终端，启动控制程序
+
+```bash
+source devel/setup.bash
+rosrun rl_sar rl_real_go2
+```
+
 ### 训练执行器网络
 
 1. 取消注释`rl_real.cpp`中最上面的`#define CSV_LOGGER`，你也可以在仿真程序中修改对应部分采集仿真数据用来测试训练过程。
@@ -155,6 +166,12 @@ rosrun rl_sar rl_real_a1
 
 [unitree_ros](https://github.com/unitreerobotics/unitree_ros)
 
+## 贡献
+
+衷心欢迎社区的贡献，以使这个框架更加成熟和对所有人有用。贡献可以是bug报告、功能请求或代码贡献。
+
+[贡献者名单](CONTRIBUTORS.md)
+
 ## 引用
 
 如果您使用此代码或其部分内容，请引用以下内容：