docs: update readme_cn

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
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