feat: [Breaking change] split config.yaml into separate model folders

README.md

@@ -71,6 +71,8 @@ cd ..
 catkin build
 ```
 
+If catkin build report errors: `Unable to find either executable 'empy' or Python module 'em'`, run `catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3` before `catkin build`
+
 ## Running
 
 Before running, copy the trained pt model file to `rl_sar/src/rl_sar/models/YOUR_ROBOT_NAME`, and configure the parameters in `config.yaml`.
@@ -100,9 +102,9 @@ Control:
 * Press **\<Space\>** to sets all control commands to zero.
 * If robot falls down, press **R** to reset Gazebo environment.
 
-### Physical Robots
+### Real Robots
 
-#### Unitree A1
+**Example: Unitree A1**
 
 Unitree A1 can be connected using both wireless and wired methods:
 
@@ -135,14 +137,13 @@ Or press **0** on the keyboard to switch the robot to the default standing posit
 
 ## Add Your Robot
 
-In the following, let ROBOT represent the name of your robot.
+In the following text, `<ROBOT>` represents the name of the robot
 
-1. Create a model package named ROBOT_description in the robots folder. Place the URDF model in the urdf path within the folder and name it ROBOT.urdf. Create a namespace named ROBOT_gazebo in the config folder within the model file for joint configuration.
-2. Place the model file in models/ROBOT.
-3. Add a new field in rl_sar/config.yaml named ROBOT and adjust the parameters, such as changing the model_name to the model file name from the previous step.
-4. Add a new launch file in the rl_sar/launch folder. Refer to other launch files for guidance on modification.
-5. Change ROBOT_NAME to ROBOT in rl_xxx.cpp.
-6. Compile and run.
+1. Create a model package named `<ROBOT>_description` in the `rl_sar/src/robots` directory. Place the robot's URDF file in the `rl_sar/src/robots/<ROBOT>_description/urdf` directory and name it `<ROBOT>.urdf`. Additionally, create a joint configuration file with the namespace `<ROBOT>_gazebo` in the `rl_sar/src/robots/<ROBOT>_description/config` directory.
+2. Place the trained RL model files in the `rl_sar/src/rl_sar/models/<ROBOT>` directory.
+3. In the `rl_sar/src/rl_sar/models/<ROBOT>` directory, create a `config.yaml` file, and modify its parameters based on the `rl_sar/src/rl_sar/models/a1_isaacgym/config.yaml` file.
+4. If you need to run simulations, modify the launch files as needed by referring to those in the `rl_sar/src/rl_sar/launch` directory.
+5. If you need to run on the physical robot, modify the file `rl_sar/src/rl_sar/src/rl_real_a1.cpp` as needed.
 
 ## Reference
 

README_CN.md

@@ -71,6 +71,8 @@ cd ..
 catkin build
 ```
 
+如果 catkin build 报错: `Unable to find either executable 'empy' or Python module 'em'`, 在`catkin build` 之前执行 `catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3`
+
 ## 运行
 
 运行前请将训练好的pt模型文件拷贝到`rl_sar/src/rl_sar/models/YOUR_ROBOT_NAME`中，并配置`config.yaml`中的参数。
@@ -101,9 +103,9 @@ source devel/setup.bash
 * 按 **\<Space\>** 将所有控制指令设置为零。
 * 如果机器人摔倒，按 **R** 重置Gazebo环境。
 
-### 实物
+### 真实机器人
 
-#### Unitree A1
+**示例：Unitree A1**
 
 与Unitree A1连接可以使用无线与有线两种方式
 
@@ -136,14 +138,13 @@ rosrun rl_sar rl_real_a1
 
 ## 添加你的机器人
 
-下文中将ROBOT代表机器人名称
+下文中将`<ROBOT>`代表机器人名称
 
-1. 在robots文件夹中创建名为ROBOT_description的模型包，将模型的urdf放到文件夹中的urdf路径下并命名为ROBOT.urdf，在模型文件中的config文件夹中创建命名空间为ROBOT_gazebo的关节配置文件
-2. 将模型文件放到models/ROBOT中
-3. 在rl_sar/config.yaml中添加一个新的字段，命名为ROBOT，更改其中参数，如将model_name改为上一步的模型文件名
-4. 在rl_sar/launch文件夹中添加一个新的launch文件，请参考其他launch文件自行修改
-5. 修改rl_xxx.cpp中的ROBOT_NAME为ROBOT
-6. 编译运行
+1. 在`rl_sar/src/robots`路径下创建名为`<ROBOT>_description`的模型包，将模型的urdf放到`rl_sar/src/robots/<ROBOT>_description/urdf`路径下并命名为`<ROBOT>.urdf`，并在`rl_sar/src/robots/<ROBOT>_description/config`路径下创建命名空间为`<ROBOT>_gazebo`的关节配置文件
+2. 将训练好的RL模型文件放到`rl_sar/src/rl_sar/models/<ROBOT>`路径下
+3. 在`rl_sar/src/rl_sar/models/<ROBOT>`中新建config.yaml文件，参考`rl_sar/src/rl_sar/models/a1_isaacgym/config.yaml`文件修改其中参数
+4. 若需要运行仿真，则参考`rl_sar/src/rl_sar/launch`路径下的launch文件自行修改
+5. 若需要运行实物，则参考`rl_sar/src/rl_sar/src/rl_real_a1.cpp`文件自行修改
 
 ## 参考
 

src/rl_sar/include/rl_sim.hpp

@@ -31,7 +31,6 @@ class RL_Sim : public RL
     void RobotControl();
 
     // history buffer
-    bool use_history = true;
     ObservationBuffer history_obs_buf;
     torch::Tensor history_obs;
 
@@ -65,6 +64,7 @@ class RL_Sim : public RL
     void CmdvelCallback(const geometry_msgs::Twist::ConstPtr &msg);
 
     // others
+    std::string gazebo_model_name;
     int motiontime = 0;
     std::map<std::string, size_t> sorted_to_original_index;
     std::vector<double> mapped_joint_positions;

src/rl_sar/launch/gazebo_a1_isaaclab.launch → src/rl_sar/launch/gazebo_a1_isaacgym.launch

@@ -1,9 +1,9 @@
 <launch>
     <arg name="wname" default="stairs"/>
     <arg name="rname" default="a1"/>
-    <param name="robot_name" type="str" value="$(arg rname)_isaaclab"/>
-    <param name="use_history" type="bool" value="false"/>
+    <param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
     <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
+    <param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
     <arg name="robot_path" value="(find $(arg rname)_description)"/>
     <arg name="dollar" value="$"/>
 

src/rl_sar/launch/gazebo_a1.launch → src/rl_sar/launch/gazebo_a1_isaacsim.launch

@@ -1,9 +1,9 @@
 <launch>
     <arg name="wname" default="stairs"/>
     <arg name="rname" default="a1"/>
-    <param name="robot_name" type="str" value="$(arg rname)"/>
-    <param name="use_history" type="bool" value="true"/>
+    <param name="robot_name" type="str" value="$(arg rname)_isaacsim"/>
     <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
+    <param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
     <arg name="robot_path" value="(find $(arg rname)_description)"/>
     <arg name="dollar" value="$"/>
 

src/rl_sar/launch/gazebo_gr1t1.launch → src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch

@@ -1,9 +1,9 @@
 <launch>
     <arg name="wname" default="stairs"/>
     <arg name="rname" default="gr1t1"/>
-    <param name="robot_name" type="str" value="$(arg rname)"/>
-    <param name="use_history" type="bool" value="false"/>
+    <param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
     <param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
+    <param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
     <arg name="robot_path" value="(find $(arg rname)_description)"/>
     <arg name="dollar" value="$"/>