fix: rename

README.md

@@ -52,7 +52,7 @@ catkin build
 
 ## Running
 
-Before running, copy the trained pt model file to `rl_sar/src/unitree_rl/models`
+Before running, copy the trained pt model file to `rl_sar/src/rl_sar/models`
 
 ### Simulation
 
@@ -60,14 +60,14 @@ Open a new terminal, launch the gazebo simulation environment
 
 ```bash
 source devel/setup.bash
-roslaunch unitree_rl start_env.launch
+roslaunch rl_sar start_env.launch
 ```
 
 Open a new terminal, run the control program
 
 ```bash
 source devel/setup.bash
-rosrun unitree_rl unitree_rl
+rosrun rl_sar unitree_rl
 ```
 
 Open a new terminal, run the keyboard control program
@@ -82,7 +82,7 @@ Open a new terminal, run the control program
 
 ```bash
 source devel/setup.bash
-rosrun unitree_rl unitree_rl_real
+rosrun rl_sar unitree_rl_real
 ```
 
 > Some code references: https://github.com/mertgungor/unitree_model_control

README_CN.md

@@ -52,7 +52,7 @@ catkin build
 
 ## 运行
 
-运行前请将训练好的pt模型文件拷贝到`rl_sar/src/unitree_rl/models`中
+运行前请将训练好的pt模型文件拷贝到`rl_sar/src/rl_sar/models`中
 
 ### 仿真
 
@@ -60,14 +60,14 @@ catkin build
 
 ```bash
 source devel/setup.bash
-roslaunch unitree_rl start_env.launch
+roslaunch rl_sar start_env.launch
 ```
 
 新建终端，启动控制程序
 
 ```bash
 source devel/setup.bash
-rosrun unitree_rl unitree_rl
+rosrun rl_sar unitree_rl
 ```
 
 新建终端，键盘控制程序
@@ -82,7 +82,7 @@ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
 
 ```bash
 source devel/setup.bash
-rosrun unitree_rl unitree_rl_real
+rosrun rl_sar unitree_rl_real
 ```
 
 > 部分代码参考https://github.com/mertgungor/unitree_model_control

src/rl_sar/CMakeLists.txt

@@ -1,8 +1,10 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(unitree_rl)
+project(rl_sar)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
 
+add_definitions(-DCMAKE_CURRENT_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+
 find_package(Torch REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
@@ -39,22 +41,22 @@ include_directories(
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
-add_library(model library/model/model.cpp library/model/model.hpp)
+add_library(rl library/rl/rl.cpp library/rl/rl.hpp)
-target_link_libraries(model "${TORCH_LIBRARIES}")
+target_link_libraries(rl "${TORCH_LIBRARIES}")
-set_property(TARGET model PROPERTY CXX_STANDARD 14)
+set_property(TARGET rl PROPERTY CXX_STANDARD 14)
 
 add_library(observation_buffer library/observation_buffer/observation_buffer.cpp library/observation_buffer/observation_buffer.hpp)
 target_link_libraries(observation_buffer "${TORCH_LIBRARIES}")
 set_property(TARGET observation_buffer PROPERTY CXX_STANDARD 14)
 
-add_executable(unitree_rl src/unitree_rl.cpp )
+add_executable(rl_sim src/rl_sim.cpp )
-target_link_libraries(unitree_rl
+target_link_libraries(rl_sim
   ${catkin_LIBRARIES} ${EXTRA_LIBS} "${TORCH_LIBRARIES}"
-  model observation_buffer
+  rl observation_buffer
 )
 
-add_executable(unitree_rl_real src/unitree_rl_real.cpp )
+add_executable(rl_real src/rl_real.cpp )
-target_link_libraries(unitree_rl_real
+target_link_libraries(rl_real
   ${catkin_LIBRARIES} ${EXTRA_LIBS} "${TORCH_LIBRARIES}"
-  model observation_buffer
+  rl observation_buffer
 )

src/rl_sar/include/rl_real.hpp

@@ -1,11 +1,7 @@
-#ifndef UNITREE_RL
+#ifndef RL_REAL_HPP
-#define UNITREE_RL
+#define RL_REAL_HPP
 
-#include <ros/ros.h>
+#include "../library/rl/rl.hpp"
-#include <gazebo_msgs/ModelStates.h>
-#include <sensor_msgs/JointState.h>
-#include <geometry_msgs/Twist.h>
-#include "../library/model/model.hpp"
 #include "../library/observation_buffer/observation_buffer.hpp"
 #include <unitree_legged_msgs/LowCmd.h>
 #include "unitree_legged_msgs/LowState.h"
@@ -16,13 +12,10 @@
 
 using namespace UNITREE_LEGGED_SDK;
 
-class Unitree_RL : public Model
+class RL_Real : public RL
 {
 public:
-    Unitree_RL();
+    RL_Real();
-    void modelStatesCallback(const gazebo_msgs::ModelStates::ConstPtr &msg);
-    void jointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
-    void cmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg);
     void runModel();
     torch::Tensor forward() override;
     torch::Tensor compute_observation() override;
@@ -60,35 +53,17 @@ private:
 
     std::vector<std::string> torque_command_topics;
 
-    ros::Subscriber model_state_subscriber_;
-    ros::Subscriber joint_state_subscriber_;
-    ros::Subscriber cmd_vel_subscriber_;
-
-    std::map<std::string, ros::Publisher> torque_publishers;
     std::vector<unitree_legged_msgs::MotorCmd> torque_commands;
 
-    geometry_msgs::Twist vel;
-    geometry_msgs::Pose pose;
-    geometry_msgs::Twist cmd_vel;
-
     std::vector<std::string> joint_names;
     std::vector<double> joint_positions;
     std::vector<double> joint_velocities;
 
-    
-
-    ros::Timer timer;
-
     std::chrono::high_resolution_clock::time_point start_time;
 
     // other rl module
     torch::jit::script::Module encoder;
     torch::jit::script::Module vq;
-
-    UNITREE_LEGGED_SDK::LowCmd SendLowLCM = {0};
-    UNITREE_LEGGED_SDK::LowState RecvLowLCM = {0};
-    unitree_legged_msgs::LowCmd SendLowROS;
-    unitree_legged_msgs::LowState RecvLowROS;
 };
 
 #endif

src/rl_sar/include/rl_sim.hpp

@@ -1,18 +1,18 @@
-#ifndef UNITREE_RL
+#ifndef RL_SIM_HPP
-#define UNITREE_RL
+#define RL_SIM_HPP
 
 #include <ros/ros.h>
 #include <gazebo_msgs/ModelStates.h>
 #include <sensor_msgs/JointState.h>
 #include <geometry_msgs/Twist.h>
-#include "../library/model/model.hpp"
+#include "../library/rl/rl.hpp"
 #include "../library/observation_buffer/observation_buffer.hpp"
 #include "unitree_legged_msgs/MotorCmd.h"
 
-class Unitree_RL : public Model
+class RL_Sim : public RL
 {
 public:
-    Unitree_RL();
+    RL_Sim();
     void modelStatesCallback(const gazebo_msgs::ModelStates::ConstPtr &msg);
     void jointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
     void cmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg);

src/rl_sar/launch/start_env.launch

@@ -13,7 +13,7 @@
     <arg name="user_debug" default="false"/>
     
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(find unitree_rl)/worlds/$(arg wname).world"/>
+        <arg name="world_name" value="$(find rl_sar)/worlds/$(arg wname).world"/>
         <arg name="debug" value="$(arg debug)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="paused" value="$(arg paused)"/>

src/rl_sar/library/rl/rl.cpp

@@ -1,6 +1,6 @@
-#include "model.hpp"
+#include "rl.hpp"
 
-torch::Tensor Model::quat_rotate_inverse(torch::Tensor q, torch::Tensor v)
+torch::Tensor RL::quat_rotate_inverse(torch::Tensor q, torch::Tensor v)
 {
     c10::IntArrayRef shape = q.sizes();
     torch::Tensor q_w = q.index({torch::indexing::Slice(), -1});
@@ -11,7 +11,19 @@ torch::Tensor Model::quat_rotate_inverse(torch::Tensor q, torch::Tensor v)
     return a - b + c;
 }
 
-torch::Tensor Model::compute_torques(torch::Tensor actions)
+void RL::init_observations()
+{
+    this->obs.lin_vel = torch::tensor({{0.0, 0.0, 0.0}});
+    this->obs.ang_vel = torch::tensor({{0.0, 0.0, 0.0}});
+    this->obs.gravity_vec = torch::tensor({{0.0, 0.0, -1.0}});
+    this->obs.commands = torch::tensor({{0.0, 0.0, 0.0}});
+    this->obs.base_quat = torch::tensor({{0.0, 0.0, 0.0, 1.0}});
+    this->obs.dof_pos = this->params.default_dof_pos;
+    this->obs.dof_vel = torch::tensor({{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}});
+    this->obs.actions = torch::tensor({{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}});
+}
+
+torch::Tensor RL::compute_torques(torch::Tensor actions)
 {
     torch::Tensor actions_scaled = actions * this->params.action_scale;
     int indices[] = {0, 3, 6, 9};
@@ -25,10 +37,9 @@ torch::Tensor Model::compute_torques(torch::Tensor actions)
     return clamped;
 }
 
-torch::Tensor Model::compute_observation()
+/* You may need to override this compute_observation() function
+torch::Tensor RL::compute_observation()
 {
-    std::cout << "You may need to override this compute_observation() function" << std::endl;
-
     torch::Tensor obs = torch::cat({(this->quat_rotate_inverse(this->base_quat, this->lin_vel)) * this->params.lin_vel_scale,
                                     (this->quat_rotate_inverse(this->obs.base_quat, this->obs.ang_vel)) * this->params.ang_vel_scale,
                                     this->quat_rotate_inverse(this->obs.base_quat, this->obs.gravity_vec),
@@ -40,27 +51,15 @@ torch::Tensor Model::compute_observation()
 
     obs = torch::clamp(obs, -this->params.clip_obs, this->params.clip_obs);
 
-    // printf("observation size: %d, %d\n", obs.sizes()[0], obs.sizes()[1]);
+    printf("observation size: %d, %d\n", obs.sizes()[0], obs.sizes()[1]);
 
     return obs;
 }
+*/
 
-void Model::init_observations()
+/* You may need to override this forward() function
+torch::Tensor RL::forward()
 {
-    this->obs.lin_vel = torch::tensor({{0.0, 0.0, 0.0}});
-    this->obs.ang_vel = torch::tensor({{0.0, 0.0, 0.0}});
-    this->obs.gravity_vec = torch::tensor({{0.0, 0.0, -1.0}});
-    this->obs.commands = torch::tensor({{0.0, 0.0, 0.0}});
-    this->obs.base_quat = torch::tensor({{0.0, 0.0, 0.0, 1.0}});
-    this->obs.dof_pos = this->params.default_dof_pos;
-    this->obs.dof_vel = torch::tensor({{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}});
-    this->obs.actions = torch::tensor({{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}});
-}
-
-torch::Tensor Model::forward()
-{
-    std::cout << "You may need to override this forward() function" << std::endl;
-
     torch::Tensor obs = this->compute_observation();
 
     torch::Tensor actor_input = torch::cat({obs}, 1);
@@ -72,3 +71,4 @@ torch::Tensor Model::forward()
 
     return clamped;
 }
+*/

src/rl_sar/library/rl/rl.hpp

@@ -1,5 +1,5 @@
-#ifndef MODEL_HPP
+#ifndef RL_HPP
-#define MODEL_HPP
+#define RL_HPP
 
 #include <torch/script.h>
 #include <iostream>
@@ -36,14 +36,14 @@ struct Observations {
     torch::Tensor actions;
 };
 
-class Model {
+class RL {
 public:
-    Model(){};
+    RL(){};
     ModelParams params;
     Observations obs;
 
-    virtual torch::Tensor forward();
+    virtual torch::Tensor forward() = 0;
-    virtual torch::Tensor compute_observation();
+    virtual torch::Tensor compute_observation() = 0;
 
     torch::Tensor compute_torques(torch::Tensor actions);
     torch::Tensor quat_rotate_inverse(torch::Tensor q, torch::Tensor v);
@@ -63,4 +63,4 @@ protected:
     torch::Tensor actions;
 };
 
-#endif // MODEL_HPP
+#endif // RL_HPP

src/rl_sar/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-    <name>unitree_rl</name>
+    <name>rl_sar</name>
-    <version>0.0.0</version>
+    <version>2.0.0</version>
-    <description>The unitree_rl package</description>
+    <description>The rl_sar package</description>
 
     <maintainer email="fanziqi614@gmail.com">Ziqi Fan</maintainer>
 

src/rl_sar/src/rl_real.cpp

@@ -1,17 +1,16 @@
-#include "../include/unitree_rl_real.hpp"
+#include "../include/rl_real.hpp"
-#include <ros/package.h>
 
-void Unitree_RL::UDPRecv()
+void RL_Real::UDPRecv()
 { 
     udp.Recv();
 }
 
-void Unitree_RL::UDPSend()
+void RL_Real::UDPSend()
 {  
     udp.Send();
 }
 
-void Unitree_RL::RobotControl()
+void RL_Real::RobotControl()
 {
     motiontime++;
     udp.GetRecv(state);
@@ -82,20 +81,17 @@ void Unitree_RL::RobotControl()
     udp.SetSend(cmd);
 }
 
-Unitree_RL::Unitree_RL() : safe(LeggedType::A1), udp(LOWLEVEL)
+RL_Real::RL_Real() : safe(LeggedType::A1), udp(LOWLEVEL)
 {
     udp.InitCmdData(cmd);
 
     start_time = std::chrono::high_resolution_clock::now();
 
-    cmd_vel = geometry_msgs::Twist();
-
     torque_commands.resize(12);
 
-    std::string package_name = "unitree_rl";
+    std::string actor_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/actor.pt";
-    std::string actor_path = ros::package::getPath(package_name) + "/models/actor.pt";
+    std::string encoder_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/encoder.pt";
-    std::string encoder_path = ros::package::getPath(package_name) + "/models/encoder.pt";
+    std::string vq_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/vq_layer.pt";
-    std::string vq_path = ros::package::getPath(package_name) + "/models/vq_layer.pt";
 
     this->actor = torch::jit::load(actor_path);
     this->encoder = torch::jit::load(encoder_path);
@@ -133,23 +129,18 @@ Unitree_RL::Unitree_RL() : safe(LeggedType::A1), udp(LOWLEVEL)
     this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6);
 
     // InitEnvironment();
-    loop_control = std::make_shared<LoopFunc>("control_loop", 0.02 ,    boost::bind(&Unitree_RL::RobotControl, this));
+    loop_control = std::make_shared<LoopFunc>("control_loop", 0.02 ,    boost::bind(&RL_Real::RobotControl, this));
-    loop_udpSend = std::make_shared<LoopFunc>("udp_send"    , 0.002, 3, boost::bind(&Unitree_RL::UDPSend,      this));
+    loop_udpSend = std::make_shared<LoopFunc>("udp_send"    , 0.002, 3, boost::bind(&RL_Real::UDPSend,      this));
-    loop_udpRecv = std::make_shared<LoopFunc>("udp_recv"    , 0.002, 3, boost::bind(&Unitree_RL::UDPRecv,      this));
+    loop_udpRecv = std::make_shared<LoopFunc>("udp_recv"    , 0.002, 3, boost::bind(&RL_Real::UDPRecv,      this));
-    loop_rl      = std::make_shared<LoopFunc>("rl_loop"     , 0.02 ,    boost::bind(&Unitree_RL::runModel,     this));
+    loop_rl      = std::make_shared<LoopFunc>("rl_loop"     , 0.02 ,    boost::bind(&RL_Real::runModel,     this));
 
     loop_udpSend->start();
     loop_udpRecv->start();
     loop_control->start();
 }
 
-void Unitree_RL::cmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg)
+// void RL_Real::runModel(const ros::TimerEvent &event)
-{
+void RL_Real::runModel()
-    cmd_vel = *msg;
-}
-
-// void Unitree_RL::runModel(const ros::TimerEvent &event)
-void Unitree_RL::runModel()
 {
     if(init_done)
     {
@@ -163,7 +154,7 @@ void Unitree_RL::runModel()
         // printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", state.motorState[FL_0].dq, state.motorState[FL_1].dq, state.motorState[FL_2].dq, state.motorState[FR_0].dq, state.motorState[FR_1].dq, state.motorState[FR_2].dq, state.motorState[RL_0].dq, state.motorState[RL_1].dq, state.motorState[RL_2].dq, state.motorState[RR_0].dq, state.motorState[RR_1].dq, state.motorState[RR_2].dq);
 
         this->obs.ang_vel = torch::tensor({{state.imu.gyroscope[0], state.imu.gyroscope[1], state.imu.gyroscope[2]}});
-        this->obs.commands = torch::tensor({{cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z}});
+        // this->obs.commands = torch::tensor({{cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z}});
         this->obs.base_quat = torch::tensor({{state.imu.quaternion[1], state.imu.quaternion[2], state.imu.quaternion[3], state.imu.quaternion[0]}});
         this->obs.dof_pos = torch::tensor({{state.motorState[FR_0].q, state.motorState[FR_1].q, state.motorState[FR_2].q,
                                             state.motorState[FL_0].q, state.motorState[FL_1].q, state.motorState[FL_2].q,
@@ -180,7 +171,7 @@ void Unitree_RL::runModel()
     
 }
 
-torch::Tensor Unitree_RL::compute_observation()
+torch::Tensor RL_Real::compute_observation()
 {
     torch::Tensor ang_vel = this->quat_rotate_inverse(this->obs.base_quat, this->obs.ang_vel);
     // float ang_vel_temp = ang_vel[0][0].item<double>();
@@ -204,7 +195,7 @@ torch::Tensor Unitree_RL::compute_observation()
     return obs;
 }
 
-torch::Tensor Unitree_RL::forward()
+torch::Tensor RL_Real::forward()
 {
     torch::Tensor obs = this->compute_observation();
 
@@ -229,7 +220,7 @@ torch::Tensor Unitree_RL::forward()
 
 int main(int argc, char **argv)
 {
-    Unitree_RL unitree_rl;
+    RL_Real rl_sar;
 
     while(1){
         sleep(10);

src/rl_sar/src/rl_sim.cpp

@@ -1,7 +1,7 @@
-#include "../include/unitree_rl.hpp"
+#include "../include/rl_sim.hpp"
 #include <ros/package.h>
 
-Unitree_RL::Unitree_RL()
+RL_Sim::RL_Sim()
 {
     ros::NodeHandle nh;
     start_time = std::chrono::high_resolution_clock::now();
@@ -10,10 +10,9 @@ Unitree_RL::Unitree_RL()
 
     torque_commands.resize(12);
 
-    std::string package_name = "unitree_rl";
+    std::string actor_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/actor.pt";
-    std::string actor_path = ros::package::getPath(package_name) + "/models/actor.pt";
+    std::string encoder_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/encoder.pt";
-    std::string encoder_path = ros::package::getPath(package_name) + "/models/encoder.pt";
+    std::string vq_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/vq_layer.pt";
-    std::string vq_path = ros::package::getPath(package_name) + "/models/vq_layer.pt";
 
     this->actor = torch::jit::load(actor_path);
     this->encoder = torch::jit::load(encoder_path);
@@ -51,9 +50,9 @@ Unitree_RL::Unitree_RL()
     this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6);
 
     cmd_vel_subscriber_ = nh.subscribe<geometry_msgs::Twist>(
-        "/cmd_vel", 10, &Unitree_RL::cmdvelCallback, this);
+        "/cmd_vel", 10, &RL_Sim::cmdvelCallback, this);
 
-    timer = nh.createTimer(ros::Duration(0.005), &Unitree_RL::runModel, this);
+    timer = nh.createTimer(ros::Duration(0.005), &RL_Sim::runModel, this);
 
     ros_namespace = "/a1_gazebo/";
 
@@ -71,31 +70,31 @@ Unitree_RL::Unitree_RL()
     }
 
     model_state_subscriber_ = nh.subscribe<gazebo_msgs::ModelStates>(
-        "/gazebo/model_states", 10, &Unitree_RL::modelStatesCallback, this);
+        "/gazebo/model_states", 10, &RL_Sim::modelStatesCallback, this);
 
     joint_state_subscriber_ = nh.subscribe<sensor_msgs::JointState>(
-        "/a1_gazebo/joint_states", 10, &Unitree_RL::jointStatesCallback, this);
+        "/a1_gazebo/joint_states", 10, &RL_Sim::jointStatesCallback, this);
 }
 
-void Unitree_RL::modelStatesCallback(const gazebo_msgs::ModelStates::ConstPtr &msg)
+void RL_Sim::modelStatesCallback(const gazebo_msgs::ModelStates::ConstPtr &msg)
 {
 
     vel = msg->twist[2];
     pose = msg->pose[2];
 }
 
-void Unitree_RL::cmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg)
+void RL_Sim::cmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg)
 {
     cmd_vel = *msg;
 }
 
-void Unitree_RL::jointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)
+void RL_Sim::jointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)
 {
     joint_positions = msg->position;
     joint_velocities = msg->velocity;
 }
 
-void Unitree_RL::runModel(const ros::TimerEvent &event)
+void RL_Sim::runModel(const ros::TimerEvent &event)
 {
     auto duration = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - start_time).count();
     // std::cout << "Execution time: " << duration << " microseconds" << std::endl;
@@ -126,7 +125,7 @@ void Unitree_RL::runModel(const ros::TimerEvent &event)
     }
 }
 
-torch::Tensor Unitree_RL::compute_observation()
+torch::Tensor RL_Sim::compute_observation()
 {
     torch::Tensor obs = torch::cat({// (this->quat_rotate_inverse(this->base_quat, this->lin_vel)) * this->params.lin_vel_scale,
                                     (this->quat_rotate_inverse(this->obs.base_quat, this->obs.ang_vel)) * this->params.ang_vel_scale,
@@ -140,7 +139,7 @@ torch::Tensor Unitree_RL::compute_observation()
     return obs;
 }
 
-torch::Tensor Unitree_RL::forward()
+torch::Tensor RL_Sim::forward()
 {
     torch::Tensor obs = this->compute_observation();
 
@@ -163,8 +162,8 @@ torch::Tensor Unitree_RL::forward()
 
 int main(int argc, char **argv)
 {
-    ros::init(argc, argv, "unitree_rl");
+    ros::init(argc, argv, "rl_sar");
-    Unitree_RL unitree_rl;
+    RL_Sim rl_sar;
     ros::spin();
     return 0;
 }