# rl_sim2sim [中文文档](README_CN.md) ## Preparation Pull the code (synchronously pull submodules) ```bash git clone --recursive https://github.com/fan-ziqi/rl_sim2sim.git ``` If there are updates: ```bash git pull git submodule update --remote --recursive ``` Download and deploy `libtorch` at any location ```bash cd /path/to/your/torchlib wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./ echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc ``` Install `teleop-twist-keyboard` ```bash sudo apt install ros-noetic-teleop-twist-keyboard ``` ## Compilation Customize the following two functions in the code to adapt to different models: ```cpp torch::Tensor forward() override; torch::Tensor compute_observation() override; ``` Then compile in the root directory ```bash cd .. catkin build ``` ## Run Copy the trained pt model file to `sim2sim/src/unitree_rl/models` Open a new terminal, start the gazebo simulation environment ```bash source devel/setup.bash roslaunch unitree_rl start_env.launch ``` Open a new terminal, start the control program ```bash source devel/setup.bash rosrun unitree_rl unitree_rl ``` Open a new terminal, keyboard control program ```bash rosrun teleop_twist_keyboard teleop_twist_keyboard.py ``` > Part of the code refers to https://github.com/mertgungor/unitree_model_control