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fan-ziqi 2025-03-08 12:20:51 +08:00
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README.md
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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"
feature:
- Built-in pre-trained models for multiple robot simulations, including `a1`, `go2`, `go2w`, `b2`, `b2w`, `gr1t1`, `gr1t2`, `l4w4`;
- Built-in pre-trained models for multiple robot simulations, including `Unitree-A1`, `Unitree-Go2`, `Unitree-Go2W`, `Unitree-B2`, `Unitree-B2W`, `FFTAI-GR1T1`, `FFTAI-GR1T2`, `GoldenRetriever-L4W0`, `GoldenRetriever-L4W4`;
- The training framework supports **IsaacGym** and **IsaacSim**, distinguished by `framework`;
- The code has **ROS-Noetic** and **ROS2-Foxy/Humble** versions;
- The code has **cpp** and **python** versions, with the python version located in `src/rl_sar/scripts`;
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Unitree A1 can be connected using both wireless and wired methods:
* Wireless: Connect to the Unitree starting with WIFI broadcasted by the robot **(Note: Wireless connection may lead to packet loss, disconnection, or even loss of control, please ensure safety)**
* Wired: Use an Ethernet cable to connect any port on the computer and the robot, configure the computer IP as 192.168.123.162, and the gateway as 255.255.255.0
* Wired: Use an Ethernet cable to connect any port on the computer and the robot, configure the computer IP as 192.168.123.162, and the netmask as 255.255.255.0
Open a new terminal and start the control program

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README_CN.md
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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"
特性：
- 内置多种机器人仿真的预训练模型，包括 `a1`、`go2`、`go2w`、`b2`、`b2w`、`gr1t1`、`gr1t2`、`l4w4`；
- 内置多种机器人仿真的预训练模型，包括 `Unitree-A1`、`Unitree-Go2`、`Unitree-Go2W`、`Unitree-B2`、`Unitree-B2W`、`FFTAI-GR1T1`、`FFTAI-GR1T2`、`GoldenRetriever-L4W0`、`GoldenRetriever-L4W4`；
- 训练框架支持**IsaacGym**和**IsaacSim**，用`framework`加以区分；
- 代码有**ROS-Noetic**和**ROS2-Foxy/Humble**两个版本；
- 代码有**python**和**cpp**两个版本，其中python版本在`src/rl_sar/scripts`内；
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与Unitree A1连接可以使用无线与有线两种方式
* 无线：连接机器人发出的Unitree开头的WIFI **（注意：无线连接可能会出现丢包断联甚至失控，请注意安全）**
* 有线：用网线连接计算机和机器人的任意网口，配置计算机ip为192.168.123.162，网关255.255.255.0
* 有线：用网线连接计算机和机器人的任意网口，配置计算机地址为192.168.123.162，子网掩码255.255.255.0
新建终端，启动控制程序