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docs: fix a1 actuator_net

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fan-ziqi 2024-10-14 18:01:26 +08:00
parent 1c8211e16a
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README.md
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@ -140,7 +140,9 @@ TODO-devel-go2 完善go2的使用说明
### Train the actuator network ### 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. Take A1 as an example below
1. Uncomment `#define CSV_LOGGER` in the top of `rl_real_a1.cpp`. You can also modify the corresponding part in the simulation program to collect simulation data for testing the training process.
2. Run the control program, and the program will log all data after execution. 2. Run the control program, and the program will log all data after execution.
3. Stop the control program and start training the actuator network. Note that `rl_sar/src/rl_sar/models/` is omitted before the following paths. 3. Stop the control program and start training the actuator network. Note that `rl_sar/src/rl_sar/models/` is omitted before the following paths.
```bash ```bash
@ -162,10 +164,6 @@ In the following text, `<ROBOT>` represents the name of the robot
5. If you need to run simulations, modify the launch files as needed by referring to those in the `rl_sar/src/rl_sar/launch` directory. 5. If you need to run simulations, modify the launch files as needed by referring to those in the `rl_sar/src/rl_sar/launch` directory.
6. If you need to run on the physical robot, modify the file `rl_sar/src/rl_sar/src/rl_real_a1.cpp` as needed. 6. If you need to run on the physical robot, modify the file `rl_sar/src/rl_sar/src/rl_real_a1.cpp` as needed.
## Reference
[unitree_ros](https://github.com/unitreerobotics/unitree_ros)
## Contributing ## 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. 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.

8
README_CN.md
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@ -141,7 +141,9 @@ TODO-devel-go2 完善go2的使用说明
### 训练执行器网络 ### 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。 下面拿A1举例
1. 取消注释`rl_real_a1.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。
2. 运行控制程序，程序会在执行后记录所有数据。 2. 运行控制程序，程序会在执行后记录所有数据。
3. 停止控制程序，开始训练执行器网络。注意，下面的路径前均省略了`rl_sar/src/rl_sar/models/`。 3. 停止控制程序，开始训练执行器网络。注意，下面的路径前均省略了`rl_sar/src/rl_sar/models/`。
```bash ```bash
@ -163,10 +165,6 @@ TODO-devel-go2 完善go2的使用说明
5. 若需要运行仿真，则参考`rl_sar/src/rl_sar/launch`路径下的launch文件自行修改 5. 若需要运行仿真，则参考`rl_sar/src/rl_sar/launch`路径下的launch文件自行修改
6. 若需要运行实物，则参考`rl_sar/src/rl_sar/src/rl_real_a1.cpp`文件自行修改 6. 若需要运行实物，则参考`rl_sar/src/rl_sar/src/rl_real_a1.cpp`文件自行修改
## 参考
[unitree_ros](https://github.com/unitreerobotics/unitree_ros)
## 贡献 ## 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。 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。