mirror of https://github.com/fan-ziqi/rl_sar.git
93 lines
2.4 KiB
Markdown
93 lines
2.4 KiB
Markdown
# rl_sar
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[中文文档](README.md)
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Gazebo simulation verification and UnitreeA1 physical deployment for reinforcement learning. "sar" stands for "simulation and real".
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## Preparation
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Clone the code (sync submodules)
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```bash
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git clone --recursive https://github.com/fan-ziqi/rl_sar.git
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```
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If there are updates:
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```bash
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git pull
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git submodule update --remote --recursive
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```
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Download and deploy `libtorch` at any location
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```bash
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cd /path/to/your/torchlib
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wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
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unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
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echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
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```
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Install `teleop-twist-keyboard`
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```bash
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sudo apt install ros-noetic-teleop-twist-keyboard
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```
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## Compilation
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Customize the following two functions in your code to adapt to different models:
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```cpp
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torch::Tensor forward() override;
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torch::Tensor compute_observation() override;
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```
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Then compile in the root directory
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```bash
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cd ..
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catkin build
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```
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## Running
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Before running, copy the trained pt model file to `rl_sar/src/rl_sar/models`
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### Simulation
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Open a new terminal, launch the gazebo simulation environment
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```bash
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source devel/setup.bash
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roslaunch rl_sar start_env.launch
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```
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Open a new terminal, run the control program
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```bash
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source devel/setup.bash
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rosrun rl_sar rl_sim
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```
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Open a new terminal, run the keyboard control program
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```bash
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rosrun teleop_twist_keyboard teleop_twist_keyboard.py
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```
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### Physical Deployment
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The connection to the physical robot can be done in both wireless and wired forms.
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- Wireless: Connect to the WIFI starting with "Unitree" emitted by the robot **(Note: Wireless connection may experience packet loss, disconnection, or even loss of control, please pay attention to safety)**
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- Wired: Use an Ethernet cable to connect any port on the computer to the robot, configure the computer's IP as 192.168.123.162, and the gateway as 255.255.255.0.
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Create a new terminal and launch the control program.
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```bash
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source devel/setup.bash
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rosrun rl_sar rl_real
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```
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Press the **R2** button on the remote control to switch the robot to the default standing posture, press **R1** to switch to RL control mode, and press **L2** in any state to switch back to the initial lying posture. The left joystick controls x-axis up and down, controls yaw left and right, and the right joystick controls y-axis left and right. |