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rl_sar
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129 Commits

Author SHA1 Message Date
fan-ziqi 763eaf78df fix: delete unused files 2024-12-23 10:33:20 +08:00
fan-ziqi 6a53e1fa36 feat: add AttitudeProtect 2024-12-21 16:01:38 +08:00
fan-ziqi b8b3b7fafe fix: mutex will cause thread timeout 2024-12-19 16:46:47 +08:00
fan-ziqi f63cfc54e2 docs: update acknowledgements 2024-12-17 12:07:43 +08:00
fan-ziqi 0e5506ed67 fix: `ObservationBuffer.get_obs_vec()` sorting logic 2024-12-13 15:30:22 +08:00
fan-ziqi 123094bfb3 docs: add branch of git clone 2024-11-14 20:52:28 +08:00
-T.K.- 914c3af023
ADD: Changes to run in ROS2 Humble on Ubuntu 22.04 (#40) 
* FIX: fix building for ROS2 Humble on Ubuntu 22.04

* FIX: do not need to add .py in Humble

refer to https://discourse.articulatedrobotics.xyz/t/ros2-control-spawner-py-not-found/124/2

* FIX: fix std::future_error

when running `ros2 run rl_sar rl_sim`, get:

```bash
terminate called after throwing an instance of 'std::future_error'
  what():  std::future_error: No associated state
```

* fix: multi ros version support

* FIX: typo

* FIX: let CMake find Python version that corresponds to ROS distro

* ADD: Update CONTRIBUTORS.md

---------

Co-authored-by: fan-ziqi <fanziqi614@gmail.com>
 2024-11-14 17:30:10 +08:00
fan-ziqi 4124f78e1c fix: the angular velocity of the IMU topic is in the body coordinate system. Close #39 2024-11-13 10:56:13 +08:00
-T.K.- 6fd0136d44
fix: let CMake find the correct Python version when building for ROS2 Foxy (#38) 
* fix: finding correct python version

---------

Co-authored-by: robotsfan <fanziqi614@gmail.com>
 2024-11-12 21:38:17 +08:00
fan-ziqi 64fc72d613 feat: ROS2 support 
#34
 2024-11-08 17:52:03 +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
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