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fix: add USE_HISTORY

This commit is contained in:
fan-ziqi 2024-05-23 16:05:32 +08:00
parent 13dbb895bf
commit 87d9b697e5
1 changed files with 7 additions and 1 deletions
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8
src/rl_sar/src/rl_sim.cpp
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@ -4,6 +4,7 @@
// #define PLOT // #define PLOT
// #define CSV_LOGGER // #define CSV_LOGGER
#define USE_HISTORY
RL_Sim::RL_Sim() RL_Sim::RL_Sim()
{ {
@ -33,7 +34,9 @@ RL_Sim::RL_Sim()
this->InitObservations(); this->InitObservations();
this->InitOutputs(); this->InitOutputs();
#ifdef USE_HISTORY
this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6); this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6);
#endif
joint_positions = std::vector<double>(params.num_of_dofs, 0.0); joint_positions = std::vector<double>(params.num_of_dofs, 0.0);
joint_velocities = std::vector<double>(params.num_of_dofs, 0.0); joint_velocities = std::vector<double>(params.num_of_dofs, 0.0);
@ -175,10 +178,13 @@ torch::Tensor RL_Sim::Forward()
{ {
torch::Tensor obs = this->ComputeObservation(); torch::Tensor obs = this->ComputeObservation();
#ifdef USE_HISTORY
history_obs_buf.insert(obs); history_obs_buf.insert(obs);
history_obs = history_obs_buf.get_obs_vec({0, 1, 2, 3, 4, 5}); history_obs = history_obs_buf.get_obs_vec({0, 1, 2, 3, 4, 5});
torch::Tensor action = this->model.forward({history_obs}).toTensor(); torch::Tensor action = this->model.forward({history_obs}).toTensor();
#else
torch::Tensor action = this->model.forward({obs}).toTensor();
#endif
this->obs.actions = action; this->obs.actions = action;
torch::Tensor clamped = torch::clamp(action, -this->params.clip_actions, this->params.clip_actions); torch::Tensor clamped = torch::clamp(action, -this->params.clip_actions, this->params.clip_actions);