feat: don't autograd

src/rl_sar/src/rl_real_a1.cpp

@@ -9,6 +9,8 @@ RL_Real rl_sar;
 
 RL_Real::RL_Real() : safe(LeggedType::A1), udp(LOWLEVEL)
 {
+    torch::autograd::GradMode::set_enabled(false);
+
     ReadYaml(ROBOT_NAME);
 
     udp.InitCmdData(cmd);

src/rl_sar/src/rl_real_cyberdog.cpp

@@ -9,6 +9,8 @@ RL_Real rl_sar;
 
 RL_Real::RL_Real() : CustomInterface(500)
 {
+    torch::autograd::GradMode::set_enabled(false);
+
     ReadYaml(ROBOT_NAME);
 
     start_time = std::chrono::high_resolution_clock::now();

src/rl_sar/src/rl_sim.cpp

@@ -7,6 +7,8 @@
 
 RL_Sim::RL_Sim()
 {
+    torch::autograd::GradMode::set_enabled(false);
+
     ReadYaml(ROBOT_NAME);
 
     // Due to the fact that the robot_state_publisher sorts the joint names alphabetically,