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fix something
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README_CN.md
14
README_CN.md
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@ -104,9 +104,8 @@ rosrun rl_sar rl_real
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ping 192.168.55.100 #本地PC被分配的ip
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ssh mi@192.168.55.1 #登录nx应用板 ,密码123
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athena_version -v #核对当前版本>=1.0.0.94
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ssh root@192.168.55.233 #登录运动控制板
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```
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2. 进入电机控制模式
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修改配置开关,激活用户控制模式,运行用户自己的控制器:
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@ -138,6 +137,17 @@ rosrun rl_sar rl_real
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```
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按下键盘上的**0**键让机器人切换到默认站起姿态,按下**P**键切换到RL控制模式,任意状态按下**1**键切换到最初的趴下姿态。WS控制x,AD控制yaw,JL控制y。
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4. 重启
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```bash
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# 重启运控程序:
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ssh root@192.168.55.233 "ps | grep -E 'Example_MotorCtrl' | grep -v grep | awk '{print \$1}' | xargs kill -9" #需先于主进程暂停,避免急停
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ssh root@192.168.55.233 "ps | grep -E 'manager|ctrl|imu_online' | grep -v grep | awk '{print \$1}' | xargs kill -9"
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ssh root@192.168.55.233 "export LD_LIBRARY_PATH=/mnt/UDISK/robot-software/build;/mnt/UDISK/manager /mnt/UDISK/ >> /mnt/UDISK/manager_log/manager.log 2>&1 &"
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# 重启运控板系统:
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ssh root@192.168.55.233 "reboot"
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```
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注:lcm通信若不成功,无法正常激活电机控制模式,log提示:Motor control mode has not been activated successfully
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@ -19,6 +19,6 @@ target_link_libraries(cyberdog_motor_sdk
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lcm
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)
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## compile use code
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#add_executable(Example_MotorCtrl src/Example_MotorCtrl.cpp)
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#target_link_libraries(Example_MotorCtrl cyberdog_motor_sdk)
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# compile use code
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add_executable(Example_MotorCtrl src/Example_MotorCtrl.cpp)
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target_link_libraries(Example_MotorCtrl cyberdog_motor_sdk)
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@ -0,0 +1,7 @@
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#!/bin/bash
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set -e
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set -u
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ifconfig | grep -B 1 192.168.55.100 | grep "flags"| cut -d ':' -f1 #获取该ip对应网络设备,一般为usb0
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sudo ifconfig usb0 multicast #usb0替换为上文获取的168.55.100对应网络设备,并配为多播
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sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev usb0 #添加路由表,usb0对应替换
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@ -0,0 +1,6 @@
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#!/bin/bash
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set -e
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set -u
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ssh root@192.168.55.233 "ps | grep -E 'manager|ctrl|imu_online' | grep -v grep | awk '{print \$1}' | xargs kill -9"
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ssh root@192.168.55.233 "export LD_LIBRARY_PATH=/mnt/UDISK/robot-software/build;/mnt/UDISK/manager /mnt/UDISK/ >> /mnt/UDISK/manager_log/manager.log 2>&1 &"
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@ -20,8 +20,8 @@ RL_Real::RL_Real() : CustomInterface(500)
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this->params.num_observations = 45;
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this->params.clip_obs = 100.0;
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this->params.clip_actions = 100.0;
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this->params.damping = 0.5;
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this->params.stiffness = 20;
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this->params.damping = 2.0;
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this->params.stiffness = 50;
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this->params.d_gains = torch::ones(12) * this->params.damping;
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this->params.p_gains = torch::ones(12) * this->params.stiffness;
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this->params.action_scale = 0.25;
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@ -110,8 +110,8 @@ void RL_Real::RobotControl()
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{
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cyberdogCmd.q_des[i] = (1 - getup_percent) * now_pos[i] + getup_percent * params.default_dof_pos[0][dof_mapping[i]].item<double>();
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cyberdogCmd.qd_des[i] = 0;
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cyberdogCmd.kp_des[i] = 50;
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cyberdogCmd.kd_des[i] = 3;
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cyberdogCmd.kp_des[i] = 200;
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cyberdogCmd.kd_des[i] = 10;
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cyberdogCmd.tau_des[i] = 0;
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}
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printf("getting up %.3f%%\r", getup_percent*100.0);
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@ -178,8 +178,8 @@ void RL_Real::RobotControl()
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{
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cyberdogCmd.q_des[i] = (1 - getdown_percent) * now_pos[i] + getdown_percent * start_pos[i];
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cyberdogCmd.qd_des[i] = 0;
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cyberdogCmd.kp_des[i] = 50;
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cyberdogCmd.kd_des[i] = 3;
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cyberdogCmd.kp_des[i] = 200;
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cyberdogCmd.kd_des[i] = 10;
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cyberdogCmd.tau_des[i] = 0;
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}
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printf("getting down %.3f%%\r", getdown_percent*100.0);
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