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rl_sar
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119 Commits

Author SHA1 Message Date
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.

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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
fan-ziqi 3a9886e6ea feat: add LOGGER 2024-05-27 21:33:07 +08:00
fan-ziqi e84f2d85bc feat: add TorqueProtect 2024-05-27 18:33:09 +08:00
fan-ziqi 03cccc15db feat: 1.fix lower upper bug 
2. ComputeTorques return origin value
3. change RobotState-IMU std::vector<T>
4. Update RunModel && ComputeObservation && Forward funcs
5. update a1 pt model
 2024-05-27 17:36:41 +08:00
fan-ziqi 109ded0f12 docs: add R 2024-05-25 17:55:57 +08:00
fan-ziqi 2bb449a5e0 docs: update gr1t1 2024-05-25 17:39:22 +08:00
fan-ziqi b1a944dfc3 feat: add humanoid gr1t1 2024-05-25 17:32:39 +08:00
fan-ziqi 9155e6383b feat: add clip_actions_upper/lower 2024-05-25 17:13:24 +08:00
fan-ziqi dc10d01fed feat: add gazebo service 2024-05-25 10:54:32 +08:00
robotsfan e3873899ff fix: del unused cyberdog scripts 2024-05-25 01:07:00 +00:00
robotsfan 20127435f1 fix: del unused config 2024-05-25 01:04:30 +00:00
robotsfan 12dd628bf8 docs: update readme 2024-05-25 00:54:13 +00:00
robotsfan fcbf85cfee docs: update readme 2024-05-24 11:24:04 +00:00
robotsfan f75652af3b fix: change tab to space 2024-05-24 11:23:55 +00:00
robotsfan 4370cbf392
Merge pull request #6 from fan-ziqi/devel 
feat: [Destructive Update] NEW VERSION
 2024-05-24 16:28:32 +08:00
robotsfan 5d43caea93
Merge pull request #5 from fan-ziqi/devel 
NEW VERSION
 2024-05-24 16:26:11 +08:00
fan-ziqi 174a2686f7 feat: [Destructive Update] NEW VERSISON 2024-05-24 16:24:14 +08:00
fan-ziqi 75a943e9d8 move matplotlib 2024-05-24 12:03:27 +08:00
fan-ziqi 1d6ecb2771 only sim 2024-05-24 11:40:03 +08:00
fan-ziqi 7b681c1834 fix: del UNITREE_LEGGED_SDK 2024-05-23 21:10:54 +08:00
fan-ziqi 382702c035 feat: [Destructive Update]del submodules unitree_ros 2024-05-23 20:55:35 +08:00
fan-ziqi 24e8018e0d git: update branch name 2024-05-23 17:27:15 +08:00
fan-ziqi e45a395e59 feat: add robot_msgs 2024-05-23 17:06:35 +08:00