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141 Commits

Author SHA1 Message Date
fan-ziqi 05c38eedba fix history buffer 2025-03-03 16:38:06 +08:00
fan-ziqi b066b9092e v23 2025-02-27 23:02:17 +08:00
fan-ziqi 51ca742147 lib 2025-02-27 23:01:11 +08:00
fan-ziqi f13aac008a fix: add gazebo config to b2w urdf 2025-02-18 22:41:55 +08:00
fan-ziqi 3e7306dfa1 feat: add more robots (b2 b2w go2w) 2025-02-15 18:47:11 +08:00
fan-ziqi 69d7f91bb7 docs: clarify ros versions 2025-01-18 10:52:54 +08:00
fan-ziqi c06a446f42 docs: 
1. correct typo in README files for IsaacGym
2. clarify the installation process of libtorch
3. update acknowledgements
4. add [NOTE]
 2025-01-15 15:01:22 +08:00
fan-ziqi 592c4fa3e4 fix: del unused pid cfg params 2025-01-11 22:20:40 +08:00
fan-ziqi 4575a5b62d feat: 1. use `tbb::concurrent_queue` instead of `std::mutex` 
2. wheel robot support
3. add `mode` in `RobotCommand::MotorCommand`
 2025-01-11 21:52:33 +08:00
fan-ziqi 2599d2ba5b ADD LICENSE 2025-01-03 21:59:07 +08:00
fan-ziqi 2dcd21ec72 fix: del unused gr1tx_isaacsim yaml 2025-01-03 18:43:03 +08:00
fan-ziqi 4308f78250 fix: read commands_scale from yaml 2025-01-03 18:42:09 +08:00
fan-ziqi 87855a052d fix: 1. change joint_state_subscriber to joint_subscribers 
2. rename tauEst to tau_est
 2025-01-03 17:20:18 +08:00
fan-ziqi da85366ac7 fix: add torch::set_num_threads(4) 2025-01-03 16:10:36 +08:00
fan-ziqi f07083ba2e hotfix: joy change y/yaw 2024-12-22 10:42:33 +08:00
fan-ziqi c508305273 feat: add joy control in gazebo simulation 2024-12-21 16:46:27 +08:00
fan-ziqi 2d4c0d23d0 feat: add AttitudeProtect 2024-12-21 15:25:56 +08:00
fan-ziqi 44f8f5324f fix: mutex will cause thread timeout 2024-12-19 16:42:01 +08:00
fan-ziqi 5b05b05529 docs: update acknowledgements 2024-12-17 12:05:14 +08:00
fan-ziqi d670e4a595 fix: `ObservationBuffer.get_obs_vec()` sorting logic 2024-12-13 15:25:43 +08:00
fan-ziqi 95ae2fa1bf docs: add introduction of ros version && add new contributor 2024-11-14 20:49:24 +08:00
fan-ziqi 922effae9d docs: update ros2 selection 2024-11-08 17:56:36 +08:00
robotsfan 1a92a2a10c
github: Update issue templates 2024-10-23 19:30:57 +08:00
fan-ziqi 26166fb485 fix: add mutex protection for robot_date to ensure thread safety in multi-threaded environments 2024-10-16 14:46:37 +08:00
fan-ziqi 6e09eb97de docs: fix robot names 2024-10-15 11:15:08 +08:00
JiJie Huang b356b61095
feat: unitree go2 sim and real support (#27) 
* feat: unitree go2 sim and real support

* feat: remove the `use_history` field, add `observations_history` to support history observations, and adjust the related logic to handle the case of empty history observations

* feat: fix coordinate bug in ang_vel

* fix: simplified handling of historical observation parameters, ensuring initialization of the observation history buffer in non-empty cases.

---------

Co-authored-by: fan-ziqi <fanziqi614@gmail.com>
 2024-10-15 10:55:16 +08:00
fan-ziqi 8b6a2d6af1 style: code format 2024-10-08 19:45:59 +08:00
fan-ziqi 10808335fd fix: remove relative references to include paths 2024-10-08 19:02:16 +08:00
fan-ziqi eb3f07a80c fix: set rl_real_a1's default running_state to STATE_WAITING 2024-10-08 18:12:03 +08:00
fan-ziqi 561864ad08 docs: simplified readme dependency installation #24 2024-10-08 18:02:16 +08:00
fan-ziqi c64e0b2833 fix: null in sdk 2024-08-26 20:35:32 +08:00
fan-ziqi db09012cd5 feat: Handle situations that do not require clamp 2024-08-26 18:13:55 +08:00
fan-ziqi 4868c7d065 feat: add obs list in config.yaml and move ComputeObservation to rl_sdk 2024-08-16 11:44:00 +08:00
fan-ziqi 11d600a0d5 feat: [Breaking change] split config.yaml into separate model folders 2024-08-15 23:15:23 +08:00
fan-ziqi e42d926bf3 docs: fix framework docs 2024-08-09 18:50:04 +08:00
fan-ziqi 150b497678 fix: move all py files to scripts folder 2024-08-09 18:04:04 +08:00
robotsfan f4ec1261bb
feat: isaaclab framework support 2024-08-09 17:55:01 +08:00
fan-ziqi 9f4bedc598 feat: add actuator trainer 2024-07-28 22:03:10 +08:00
fan-ziqi 2abcf192ca fix: a1 model 0702 2024-07-05 10:30:14 +08:00
fan-ziqi 5934cf6bdd update model 2024-07-03 16:22:11 +08:00
fan-ziqi c153746bce feat: add RL python sdk 2024-06-29 11:38:07 +08:00
fan-ziqi 9d2ed695cc feat: add gr1t2 model 2024-06-29 11:35:49 +08:00
fan-ziqi 665c5718c1 feat: change interaction logic 2024-06-12 16:01:17 +08:00
robotsfan fba480e417
docs: update discord invitation 2024-06-01 23:01:53 +08:00
fan-ziqi 2e36302631 feat: add Discord 2024-06-01 11:57:49 +08:00
fan-ziqi e3dfb685a7 feat: humanoid works 2024-05-30 12:01:32 +08:00
fan-ziqi 53713805b5 feat: remove boost required 2024-05-29 17:02:14 +08:00
fan-ziqi 8327b52d01 fix: add this to class member 2024-05-29 12:56:38 +08:00
fan-ziqi be79e7f64a fix: make up/down static 2024-05-29 12:27:09 +08:00
fan-ziqi 0740bd6e42 feat: add control interface to adapt to Joy 2024-05-29 12:04:35 +08:00