EmbodiedAI
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rl_sar
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42 Commits

Author SHA1 Message Date
robotsfan 87be546a0c
v2.3 (#51) 
## Changes  
1. Fixed `observations_history` order to ensure consistency in data processing.  
2. Removed row-column dependencies in `config.yaml` and explicitly specified joint order.  
3. Simplified launch files: Now, different models for single robot can be launched specified using `cfg:=`. Example:  
   ```bash
   roslaunch rl_sar gazebo_go2.launch cfg:=himloco
   ```  
4. Moved `command_mapping` and `state_mapping` from *.hpp to `config.yaml` for better configuration management.  
5. Added simulation and deployment SDK for `GoldenRetriever-l4w4` robot.  
6. Added support for pretrained models of `go2`, `go2w`, `b2`, `b2w`, `a1`.
7. Reorganized the project structure:  
   - Moved SDK to `thirdparty/`.  
   - Moved core libraries to `core/`.  
8. Fixed duplicate `#ifndef` issues in hpp files.
 2025-03-13 19:06:16 +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 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 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 5b05b05529 docs: update acknowledgements 2024-12-17 12:05:14 +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
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 561864ad08 docs: simplified readme dependency installation #24 2024-10-08 18:02:16 +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
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 c153746bce feat: add RL python sdk 2024-06-29 11:38:07 +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 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
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
fan-ziqi 174a2686f7 feat: [Destructive Update] NEW VERSISON 2024-05-24 16:24:14 +08:00
fan-ziqi 382702c035 feat: [Destructive Update]del submodules unitree_ros 2024-05-23 20:55:35 +08:00
fan-ziqi 1b73bbd173 feat: 
* add joint_names to config.yaml
* add ReadTensorFromYaml
* Due to the fact that the robot_state_publisher sorts the joint names alphabetically the mapping table is established according to the order defined in the YAML file
 2024-04-28 16:51:46 +08:00
fan-ziqi e808a96f62 fix: build bugs 2024-04-17 15:20:19 +08:00
fan-ziqi e79596c1f1 feat: fix bugs 2024-04-09 23:48:38 +08:00
fan-ziqi 58104e7189 docs: add cyberdog deploment 2024-04-08 23:25:05 +08:00
fan-ziqi 2f7c3efc1b docs: yaml 2024-04-05 22:03:00 +08:00
fan-ziqi 5dd3492eb2 feat: add cyberdog interface 2024-03-29 16:49:28 +08:00
fan-ziqi 41b60ba78b docs: add Citation 2024-03-22 00:16:13 +08:00
fan-ziqi a46a5b99ff docs: fix CN dir 2024-03-18 14:54:46 +08:00
fan-ziqi 60be274a9e docs: add physical deploment 2024-03-18 14:53:31 +08:00
fan-ziqi 374ba33d7b docs: fix exe name 2024-03-14 13:13:47 +08:00
fan-ziqi cbaef30296 fix: rename 2024-03-14 13:11:01 +08:00
fan-ziqi bef47f7f71 docs: del auto checkout 2024-03-14 12:42:00 +08:00
fan-ziqi 825b7c7449 translate 2024-03-07 11:54:33 +08:00
fan-ziqi b62d646b86 doc: add README 2024-03-06 17:32:15 +08:00
robotsfan 71dd705e91
Initial commit 2024-03-06 17:06:26 +08:00