README.gitee.md

Wiki-GRx-Gazebo

This repository provides an environment used to test the RL policy trained in NVIDIA's Isaac Gym on the GRx robot model in Gazebo.

User Guide

1. Download and deploy libtorch at any location

cd /path/to/your/libtorch
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/libtorch' >> ~/.bashrc

2. Install dependency packages

sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-controller-interface ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller

3. Install yaml-cpp

git clone https://github.com/jbeder/yaml-cpp.git
cd yaml-cpp && mkdir build && cd build
cmake -DYAML_BUILD_SHARED_LIBS=on .. && make
sudo make install
sudo ldconfig

4. Install ROS environment (One-click installation)
   • https://fishros.org.cn/forum/topic/20/小鱼的一键安装系列?lang=zh-CN

wget http://fishros.com/install -O fishros && . fishros

5. Clone the code

git clone https://gitee.com/FourierIntelligence/wiki-grx-gazebo.git

6. Build the project

catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3
catkin build
source devel/setup.bash

7. Running: Open a new terminal, launch the gazebo simulation environment

source devel/setup.bash
roslaunch rl_sim gazebo_<ROBOT>.launch

<ROBOT> can be gr1t1 and gr1t2.

8. 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.
   • If robot falls down, press R to reset Gazebo environment.

Thanks

Thanks to the following repositories for providing the code for the GRx robot model in Gazebo:

• https://github.com/fan-ziqi/rl_sar

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Thank you for your interest in the Fourier Intelligence GRx Robot Repositories. We hope you find this resource helpful in your robotics projects!