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rl_sar
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update a1

This commit is contained in:
fan-ziqi 2025-03-08 10:07:26 +08:00
parent 5ec8fa4569
commit 1d1eae1f22
1 changed files with 3 additions and 3 deletions
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6
src/rl_sar/src/rl_real_a1.cpp
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@ -139,7 +139,7 @@ void RL_Real::SetCommand(const RobotCommand<double> *command)
this->unitree_low_command.motorCmd[i].tau = command->motor_command.tau[this->params.command_mapping[i]]; this->unitree_low_command.motorCmd[i].tau = command->motor_command.tau[this->params.command_mapping[i]];
} }
this->unitree_safe.PowerProtect(this->unitree_low_command, this->unitree_low_state, 6); this->unitree_safe.PowerProtect(this->unitree_low_command, this->unitree_low_state, 8);
// this->unitree_safe.PositionProtect(this->unitree_low_command, this->unitree_low_state); // this->unitree_safe.PositionProtect(this->unitree_low_command, this->unitree_low_state);
this->unitree_udp.SetSend(this->unitree_low_command); this->unitree_udp.SetSend(this->unitree_low_command);
} }
@ -180,8 +180,8 @@ void RL_Real::RunModel()
output_dof_tau_queue.push(this->output_dof_tau); output_dof_tau_queue.push(this->output_dof_tau);
} }
this->TorqueProtect(this->output_dof_tau); // this->TorqueProtect(this->output_dof_tau);
this->AttitudeProtect(this->robot_state.imu.quaternion, 75.0f, 75.0f); // this->AttitudeProtect(this->robot_state.imu.quaternion, 75.0f, 75.0f);
#ifdef CSV_LOGGER #ifdef CSV_LOGGER
torch::Tensor tau_est = torch::tensor(this->robot_state.motor_state.tau_est).unsqueeze(0); torch::Tensor tau_est = torch::tensor(this->robot_state.motor_state.tau_est).unsqueeze(0);