docs: fix robot names

README.md

@@ -79,15 +79,17 @@ If catkin build report errors: `Unable to find either executable 'empy' or Pytho
 
 ## 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`.
+In the following text, **\<ROBOT\>_\<PLATFORM\>** is used to represent different environments, which can be `a1_isaacgym`, `a1_isaacsim`, `go2_isaacgym`, `gr1t1_isaacgym`, or `gr1t2_isaacgym`.
+
+Before running, copy the trained pt model file to `rl_sar/src/rl_sar/models/<ROBOT>_<PLATFORM>`, and configure the parameters in `config.yaml`.
 
 ### Simulation
 
 Open a terminal, launch the gazebo simulation environment
 
 ```bash
 source devel/setup.bash
-roslaunch rl_sar gazebo_<ROBOT>.launch
+roslaunch rl_sar gazebo_<ROBOT>_<PLATFORM>.launch
 ```
 
 Open a new terminal, launch the control program
@@ -98,9 +100,8 @@ source devel/setup.bash
 (for python version) rosrun rl_sar rl_sim.py
 ```
 
-Where \<ROBOT\> can be `a1` or `a1_isaaclab` or `gr1t1` or `gr1t2`.
-
 Control:
+
 * Press **\<Enter\>** to toggle simulation start/stop.
 * **W** and **S** controls x-axis, **A** and **D** controls yaw, and **J** and **L** controls y-axis.
 * Press **\<Space\>** to sets all control commands to zero.
@@ -154,14 +155,13 @@ Take A1 as an example below
 
 ## Add Your Robot
 
-In the following text, `<ROBOT>` represents the name of the robot
+In the following text, **\<ROBOT\>_\<PLATFORM\>** is used to represent your robot environment.
 
 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. Modify the `forward()` function in the code as needed to adapt to different models.
-5. 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.
-6. If you need to run on the physical robot, modify the file `rl_sar/src/rl_sar/src/rl_real_a1.cpp` as needed.
+2. Place the trained RL model files in the `rl_sar/src/rl_sar/models/<ROBOT>_<PLATFORM>` directory, and create a new `config.yaml` file in this path. Refer to the `rl_sar/src/rl_sar/models/a1_isaacgym/config.yaml` file to modify the parameters.
+3. Modify the `forward()` function in the code as needed to adapt to different models.
+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.
 
 ## Contributing
 

README_CN.md

@@ -79,15 +79,17 @@ catkin build
 
 ## 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。
+下文中使用 **\<ROBOT\>_\<PLATFORM\>** 代替表示不同的环境，可以是 `a1_isaacgym` 、 `a1_isaacsim` 、 `go2_isaacgym` 、 `gr1t1_isaacgym` 、 `gr1t2_isaacgym`
+
+运行前请将训练好的pt模型文件拷贝到`rl_sar/src/rl_sar/models/<ROBOT>_<PLATFORM>`中，并配置`config.yaml`中的参数。
 
 ### 仿真
 
 打开一个终端，启动gazebo仿真环境
 
 ```bash
 source devel/setup.bash
-roslaunch rl_sar gazebo_<ROBOT>.launch
+roslaunch rl_sar gazebo_<ROBOT>_<PLATFORM>.launch
 ```
 
 打开一个新终端，启动控制程序
@@ -98,8 +100,6 @@ source devel/setup.bash
 (for python version) rosrun rl_sar rl_sim.py
 ```
 
-其中 \<ROBOT\> 可以是 `a1` 或 `a1_isaaclab` 或 `gr1t1` 或 `gr1t2`.
-
 控制：
 
 * 按 **\<Enter\>** 切换仿真器运行/停止。
@@ -155,14 +155,13 @@ 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
+下文中使用 **\<ROBOT\>_\<PLATFORM\>** 代替表示你的机器人环境
 
 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. 按需修改代码中的`forward()`函数，以适配不同的模型
-5. 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
-6. 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
+2. 将训练好的RL模型文件放到`rl_sar/src/rl_sar/models/<ROBOT>_<PLATFORM>`路径下，并在此路径中新建config.yaml文件，参考`rl_sar/src/rl_sar/models/a1_isaacgym/config.yaml`文件修改其中参数
+3. 按需修改代码中的`forward()`函数，以适配不同的模型
+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
 
 ## 贡献
 
@@ -181,4 +180,4 @@ rosrun rl_sar rl_real_a1
   url = {https://github.com/fan-ziqi/rl_sar},
   year = {2024}
 }
-```
+```