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fix: read commands_scale from yaml

This commit is contained in:
fan-ziqi 2025-01-03 18:42:09 +08:00
parent 87855a052d
commit 4308f78250
2 changed files with 3 additions and 3 deletions
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4
src/rl_sar/library/rl_sdk/rl_sdk.cpp
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@ -511,8 +511,8 @@ void RL::ReadYaml(std::string robot_name)
this->params.ang_vel_scale = config["ang_vel_scale"].as<double>(); this->params.ang_vel_scale = config["ang_vel_scale"].as<double>();
this->params.dof_pos_scale = config["dof_pos_scale"].as<double>(); this->params.dof_pos_scale = config["dof_pos_scale"].as<double>();
this->params.dof_vel_scale = config["dof_vel_scale"].as<double>(); this->params.dof_vel_scale = config["dof_vel_scale"].as<double>();
// this->params.commands_scale = torch::tensor(ReadVectorFromYaml<double>(config["commands_scale"])).view({1, -1}); this->params.commands_scale = torch::tensor(ReadVectorFromYaml<double>(config["commands_scale"])).view({1, -1});
this->params.commands_scale = torch::tensor({this->params.lin_vel_scale, this->params.lin_vel_scale, this->params.ang_vel_scale}); // this->params.commands_scale = torch::tensor({this->params.lin_vel_scale, this->params.lin_vel_scale, this->params.ang_vel_scale});
this->params.rl_kp = torch::tensor(ReadVectorFromYaml<double>(config["rl_kp"], this->params.framework, rows, cols)).view({1, -1}); this->params.rl_kp = torch::tensor(ReadVectorFromYaml<double>(config["rl_kp"], this->params.framework, rows, cols)).view({1, -1});
this->params.rl_kd = torch::tensor(ReadVectorFromYaml<double>(config["rl_kd"], this->params.framework, rows, cols)).view({1, -1}); this->params.rl_kd = torch::tensor(ReadVectorFromYaml<double>(config["rl_kd"], this->params.framework, rows, cols)).view({1, -1});
this->params.fixed_kp = torch::tensor(ReadVectorFromYaml<double>(config["fixed_kp"], this->params.framework, rows, cols)).view({1, -1}); this->params.fixed_kp = torch::tensor(ReadVectorFromYaml<double>(config["fixed_kp"], this->params.framework, rows, cols)).view({1, -1});

2
src/rl_sar/models/a1_isaacgym/config.yaml
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@ -41,7 +41,7 @@ a1_isaacgym:
ang_vel_scale: 0.25 ang_vel_scale: 0.25
dof_pos_scale: 1.0 dof_pos_scale: 1.0
dof_vel_scale: 0.05 dof_vel_scale: 0.05
commands_scale: [2.0, 2.0, 1.0] commands_scale: [2.0, 2.0, 0.25]
torque_limits: [33.5, 33.5, 33.5, torque_limits: [33.5, 33.5, 33.5,
33.5, 33.5, 33.5, 33.5, 33.5, 33.5,
33.5, 33.5, 33.5, 33.5, 33.5, 33.5,