From 62a95ed02cde329a8ab644f589cbcc7541a1733c Mon Sep 17 00:00:00 2001
From: fan-ziqi <fanziqi614@gmail.com>
Date: Sat, 30 Mar 2024 19:05:44 +0800
Subject: [PATCH] fix something

---
 src/rl_sar/include/rl_real_cyberdog.hpp              |  1 +
 src/rl_sar/src/rl_real_cyberdog.cpp                  | 12 ++++++++----
 .../urdf/cyberdog_description.urdf                   |  2 +-
 3 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/src/rl_sar/include/rl_real_cyberdog.hpp b/src/rl_sar/include/rl_real_cyberdog.hpp
index 038f258..630b195 100644
--- a/src/rl_sar/include/rl_real_cyberdog.hpp
+++ b/src/rl_sar/include/rl_real_cyberdog.hpp
@@ -10,6 +10,7 @@
 // #include <signal.h>
 #include <termios.h>
 #include <sys/ioctl.h>
+#include <iostream>
 
 using namespace UNITREE_LEGGED_SDK;
 
diff --git a/src/rl_sar/src/rl_real_cyberdog.cpp b/src/rl_sar/src/rl_real_cyberdog.cpp
index 8cadd43..c2ea405 100644
--- a/src/rl_sar/src/rl_real_cyberdog.cpp
+++ b/src/rl_sar/src/rl_real_cyberdog.cpp
@@ -1,10 +1,10 @@
 #include "../include/rl_real_cyberdog.hpp"
 
-// #define PLOT
+#define PLOT
 
 RL_Real rl_sar;
 
-RL_Real::RL_Real() : CustomInterface(500)
+RL_Real::RL_Real() : CustomInterface(5000)
 {
     start_time = std::chrono::high_resolution_clock::now();
 
@@ -20,8 +20,8 @@ RL_Real::RL_Real() : CustomInterface(500)
     this->params.num_observations = 45;
     this->params.clip_obs = 100.0;
     this->params.clip_actions = 100.0;
-    this->params.damping = 2.0;
-    this->params.stiffness = 50;
+    this->params.damping = 1.0;
+    this->params.stiffness = 30;
     this->params.d_gains = torch::ones(12) * this->params.damping;
     this->params.p_gains = torch::ones(12) * this->params.stiffness;
     this->params.action_scale = 0.25;
@@ -70,6 +70,10 @@ RL_Real::~RL_Real()
 #ifdef PLOT
     loop_plot->shutdown();
 #endif
+
+    system("ssh root@192.168.55.233 \"ps | grep -E 'manager|ctrl|imu_online' | grep -v grep | awk '{print \\$1}' | xargs kill -9\"");
+    system("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 &\"");
+
     printf("exit\n");
 }
 
diff --git a/src/robots/cyberdog_description/urdf/cyberdog_description.urdf b/src/robots/cyberdog_description/urdf/cyberdog_description.urdf
index 4d7c2ff..cfa69cb 100644
--- a/src/robots/cyberdog_description/urdf/cyberdog_description.urdf
+++ b/src/robots/cyberdog_description/urdf/cyberdog_description.urdf
@@ -300,7 +300,7 @@
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
-      <mass value="7.18" />
+      <mass value="7.18+1.6" />
       <inertia
         ixx="0.032051"
         ixy="-0.00023217"