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-# rl_sim2sim
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+# rl_sim2sim
+
+## 准备
+
+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
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