From f45431b21b09d75a432f76706d9e06b9c9352f33 Mon Sep 17 00:00:00 2001
From: fan-ziqi <fanziqi614@gmail.com>
Date: Thu, 14 Mar 2024 11:36:49 +0800
Subject: [PATCH] docs: update readme_cn

---
 README_CN.md | 31 ++++++++++++++-----------------
 1 file changed, 14 insertions(+), 17 deletions(-)

diff --git a/README_CN.md b/README_CN.md
index 6d3a8ba..37a3b2b 100644
--- a/README_CN.md
+++ b/README_CN.md
@@ -1,13 +1,15 @@
-# rl_sim2sim
+# rl_sar
 
 [English document](README.md)
 
+强化学习的Gazebo仿真验证与UnitreeA1实物部署。"sar"代表"simulation and real"
+
 ## 准备
 
 拉取代码（同步拉取子模块）
 
 ```bash
-git clone --recursive https://github.com/fan-ziqi/rl_sim2sim.git
+git clone --recursive https://github.com/fan-ziqi/rl_sar.git
 ```
 
 如有更新：
@@ -50,7 +52,9 @@ catkin build
 
 ## 运行
 
-将训练好的pt模型文件拷贝到`sim2sim/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/unitree_rl/models`中
+
+### 仿真
 
 新建终端，启动gazebo仿真环境
 
@@ -72,20 +76,13 @@ rosrun unitree_rl unitree_rl
 rosrun teleop_twist_keyboard teleop_twist_keyboard.py
 ```
 
+### 实物
 
+新建终端，启动控制程序
+
+```bash
+source devel/setup.bash
+rosrun unitree_rl unitree_rl_real
+```
 
 > 部分代码参考https://github.com/mertgungor/unitree_model_control
-
-0.003563, 0.001512, -0.101311
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-
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-0.000000, 0.000000, 0.012878, 0.000000, -0.012878, 0.127060, 0.006010, 0.000000, -0.050652, 0.042926, -0.024897, -0.091003
-
-0.146841, 1.004310, -1.390954, -0.053719, 0.855462, -1.598009, -0.011909, 0.792030, -1.664962, -0.052048, 1.163194, -1.519249
--0.062282, -0.523800, 0.810542, 0.027546, -0.772218, 1.406845, -0.005030, -0.555534, 1.106206, 0.010507, -0.411735, 0.578516
\ No newline at end of file