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rl_sar
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fix something

This commit is contained in:
fan-ziqi 2024-03-30 19:05:44 +08:00
parent 33c618b88e
commit 62a95ed02c
3 changed files with 10 additions and 5 deletions
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1
src/rl_sar/include/rl_real_cyberdog.hpp
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@ -10,6 +10,7 @@
// #include <signal.h>
#include <termios.h>
#include <sys/ioctl.h>
#include <iostream>
using namespace UNITREE_LEGGED_SDK;

12
src/rl_sar/src/rl_real_cyberdog.cpp
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@ -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");
}

2
src/robots/cyberdog_description/urdf/cyberdog_description.urdf
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@ -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"