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tron1-rl-deploy-python

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Python-based RL deployment for TRON1 robots — ONNX runtime inference, MuJoCo simulation, and real-robot deployment

// repository documentation

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# English | [中文](README_cn.md)
# tron1-rl-deploy-python

## 1. Running the Simulation

- Open a Bash terminal.

- Clone the MuJoCo simulator code:

```bash
  git clone --recurse https://github.com/limxdynamics/tron1-mujoco-sim.git
  ```

- Install the motion control development library (if not already installed):

- For Linux x86_64 environment:

```bash
    pip install tron1-mujoco-sim/limxsdk-lowlevel/python3/amd64/limxsdk-*-py3-none-any.whl
    ```

- For Linux aarch64 environment:

```bash
    pip install tron1-mujoco-sim/limxsdk-lowlevel/python3/aarch64/limxsdk-*-py3-none-any.whl
    ```

- Set the robot type:

- List the available robot types using the Shell command:

```bash
    tree -L 1 tron1-mujoco-sim/robot-description/pointfoot
    ```

Example output:

```plaintext
    tron1-mujoco-sim/robot-description/pointfoot
    ├── PF_P441A
    ├── PF_P441B
    ├── PF_P441C
    ├── PF_P441C2
    ├── PF_TRON1A
    ├── SF_TRON1A
    └── WF_TRON1A
    ```

- Set the robot model type (using `PF_P441C` as an example; replace with your actual robot type):

```bash
    echo 'export ROBOT_TYPE=PF_P441C' >> ~/.bashrc && source ~/.bashrc
    ```

- Run the MuJoCo simulator:

```bash
  python tron1-mujoco-sim/simulator.py
  ```

## 2. Running the Control Algorithm

> This repository *is* the control algorithm code — no need to clone it again. `cd` into your local clone of `tron1-rl-deploy-python`, then:

- Open a Bash terminal in this repository.

- Install the motion control development library (if not already installed):

- For Linux x86_64 environment:

```bash
    pip install limxsdk-lowlevel/python3/amd64/limxsdk-*-py3-none-any.whl
    ```

- For Linux aarch64 environment:

```bash
    pip install limxsdk-lowlevel/python3/aarch64/limxsdk-*-py3-none-any.whl
    ```

- Set the robot type:

- List the available robot types using the Shell command:

```bash
    tree -L 1 controllers/model
    ```

Example output:

```plaintext
    controllers/model
    ├── PF_P441A
    ├── PF_P441B
    ├── PF_P441C
    ├── PF_P441C2
    ├── PF_TRON1A
    ├── SF_TRON1A
    └── WF_TRON1A
    ```

- Set the robot model type (using `PF_P441C` as an example; replace with your actual robot type):

```bash
    echo 'export ROBOT_TYPE=PF_P441C' >> ~/.bashrc && source ~/.bashrc
    ```

- Select training environment

The currently supported training environments are isaacgym and isaaclab. Taking isaacgym as an example, set the training environment type:

```bash
  echo 'export RL_TYPE=isaacgym' >> ~/.bashrc && source ~/.bashrc
  ```

- Run the control algorithm:

```bash
  python main.py
  ```

## 3. Virtual Joystick

- Open a Bash terminal.

- Run the robot-joystick:

```bash
  ./tron1-mujoco-sim/robot-joystick/robot-joystick
  ```

## 4. Demonstration of Results

![](https://raw.githubusercontent.com/limxdynamics/tron1-rl-deploy-python/main/doc/simulator.gif)

tron1-rl-deploy-python

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