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33
README.md
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@ -1,13 +1,15 @@
# rl_sim2sim
# rl_sar
[中文文档](README_CN.md)
[中文文档](README.md)
Gazebo simulation verification and UnitreeA1 physical deployment for reinforcement learning. "sar" stands for "simulation and real".
## Preparation
Pull the code (synchronously pull submodules)
Clone the code (sync submodules)
```bash
git clone --recursive https://github.com/fan-ziqi/rl_sim2sim.git
git clone --recursive https://github.com/fan-ziqi/rl_sar.git
```
If there are updates:
@ -34,7 +36,7 @@ sudo apt install ros-noetic-teleop-twist-keyboard
## Compilation
Customize the following two functions in the code to adapt to different models:
Customize the following two functions in your code to adapt to different models:
```cpp
torch::Tensor forward() override;
@ -48,30 +50,39 @@ cd ..
catkin build
```
## Run
## Running
Copy the trained pt model file to `sim2sim/src/unitree_rl/models`
Before running, copy the trained pt model file to `rl_sar/src/unitree_rl/models`
Open a new terminal, start the gazebo simulation environment
### Simulation
Open a new terminal, launch the gazebo simulation environment
```bash
source devel/setup.bash
roslaunch unitree_rl start_env.launch
```
Open a new terminal, start the control program
Open a new terminal, run the control program
```bash
source devel/setup.bash
rosrun unitree_rl unitree_rl
```
Open a new terminal, keyboard control program
Open a new terminal, run the keyboard control program
```bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
```
### Physical Deployment
Open a new terminal, run the control program
> Part of the code refers to https://github.com/mertgungor/unitree_model_control
```bash
source devel/setup.bash
rosrun unitree_rl unitree_rl_real
```
> Some code references: https://github.com/mertgungor/unitree_model_control

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README_CN.md
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git clone --recursive https://github.com/fan-ziqi/rl_sar.git
```
UnitreeA1只能使用v3.2.1的unitree_ros_to_real以及v3.2的unitree_legged_sdk，使用以下命令切换分支
```bash
cd src/unitree_ros/unitree_ros_to_real && git checkout v3.2.1 && cd - && cd src/unitree_ros/unitree_ros_to_real/unitree_legged_sdk && git checkout v3.2 && cd -
```
如有更新：
```bash