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rl_sar
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update cyberdog

This commit is contained in:
fan-ziqi 2024-03-30 21:43:03 +08:00
parent 62a95ed02c
commit 9f1e3f29ca
2 changed files with 32 additions and 27 deletions
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11
src/rl_sar/scripts/init_cyberdog.sh
View File

@ -2,6 +2,11 @@
set -e set -e
set -u set -u
ifconfig | grep -B 1 192.168.55.100 | grep "flags"| cut -d ':' -f1 #获取该ip对应网络设备，一般为usb0 # 获取IP地址对应的网络设备
sudo ifconfig usb0 multicast #usb0替换为上文获取的168.55.100对应网络设备,并配为多播 network_device=$(ifconfig | grep -B 1 192.168.55.100 | grep "flags" | cut -d ':' -f1)
sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev usb0 #添加路由表，usb0对应替换
# 配置网络设备为多播
sudo ifconfig $network_device multicast
# 添加路由表
sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev $network_device

48
src/rl_sar/src/rl_real_cyberdog.cpp
View File

@ -4,7 +4,7 @@
RL_Real rl_sar; RL_Real rl_sar;
RL_Real::RL_Real() : CustomInterface(5000) RL_Real::RL_Real() : CustomInterface(500)
{ {
start_time = std::chrono::high_resolution_clock::now(); start_time = std::chrono::high_resolution_clock::now();
@ -33,10 +33,10 @@ RL_Real::RL_Real() : CustomInterface(5000)
this->params.dof_vel_scale = 0.05; this->params.dof_vel_scale = 0.05;
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.torque_limits = torch::tensor({{20.0, 55.0, 55.0, this->params.torque_limits = torch::tensor({{17.0, 24.0, 24.0,
20.0, 55.0, 55.0, 17.0, 24.0, 24.0,
20.0, 55.0, 55.0, 17.0, 24.0, 24.0,
20.0, 55.0, 55.0}}); 17.0, 24.0, 24.0}});
// hip, thigh, calf // hip, thigh, calf
this->params.default_dof_pos = torch::tensor({{ 0.1000, 0.8000, -1.5000, // FL this->params.default_dof_pos = torch::tensor({{ 0.1000, 0.8000, -1.5000, // FL
@ -70,18 +70,30 @@ RL_Real::~RL_Real()
#ifdef PLOT #ifdef PLOT
loop_plot->shutdown(); loop_plot->shutdown();
#endif #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"); printf("exit\n");
} }
void RL_Real::RobotControl() void RL_Real::RobotControl()
{ {
// printf("%f, %f, %f\n",
// cyberdogData.omega[0], cyberdogData.omega[1], cyberdogData.omega[2]);
// printf("%f, %f, %f, %f\n",
// cyberdogData.quat[1], cyberdogData.quat[2], cyberdogData.quat[3], cyberdogData.quat[0]);
// printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n",
// cyberdogData.q[3], cyberdogData.q[4], cyberdogData.q[5],
// cyberdogData.q[0], cyberdogData.q[1], cyberdogData.q[2],
// cyberdogData.q[9], cyberdogData.q[10], cyberdogData.q[11],
// cyberdogData.q[6], cyberdogData.q[7], cyberdogData.q[8]);
// printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n",
// cyberdogData.qd[3], cyberdogData.qd[4], cyberdogData.qd[5],
// cyberdogData.qd[0], cyberdogData.qd[1], cyberdogData.qd[2],
// cyberdogData.qd[9], cyberdogData.qd[10], cyberdogData.qd[11],
// cyberdogData.qd[6], cyberdogData.qd[7], cyberdogData.qd[8]);
std::cout << "robot_state" << keyboard.robot_state std::cout << "robot_state" << keyboard.robot_state
<< " x" << keyboard.x << " y" << keyboard.y << " yaw" << keyboard.yaw << " x" << keyboard.x << " y" << keyboard.y << " yaw" << keyboard.yaw
<< "\r"; << "\r";
motiontime++; motiontime++;
// waiting // waiting
@ -285,21 +297,6 @@ void RL_Real::RunModel()
// std::cout << "Execution time: " << duration << " microseconds" << std::endl; // std::cout << "Execution time: " << duration << " microseconds" << std::endl;
// start_time = std::chrono::high_resolution_clock::now(); // start_time = std::chrono::high_resolution_clock::now();
// printf("%f, %f, %f\n",
// cyberdogData.omega[0], cyberdogData.omega[1], cyberdogData.omega[2]);
// printf("%f, %f, %f, %f\n",
// cyberdogData.quat[1], cyberdogData.quat[2], cyberdogData.quat[3], cyberdogData.quat[0]);
// printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n",
// cyberdogData.q[3], cyberdogData.q[4], cyberdogData.q[5],
// cyberdogData.q[0], cyberdogData.q[1], cyberdogData.q[2],
// cyberdogData.q[9], cyberdogData.q[10], cyberdogData.q[11],
// cyberdogData.q[6], cyberdogData.q[7], cyberdogData.q[8]);
// printf("%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n",
// cyberdogData.qd[3], cyberdogData.qd[4], cyberdogData.qd[5],
// cyberdogData.qd[0], cyberdogData.qd[1], cyberdogData.qd[2],
// cyberdogData.qd[9], cyberdogData.qd[10], cyberdogData.qd[11],
// cyberdogData.qd[6], cyberdogData.qd[7], cyberdogData.qd[8]);
this->obs.ang_vel = torch::tensor({{cyberdogData.omega[0], cyberdogData.omega[1], cyberdogData.omega[2]}}); this->obs.ang_vel = torch::tensor({{cyberdogData.omega[0], cyberdogData.omega[1], cyberdogData.omega[2]}});
this->obs.commands = torch::tensor({{keyboard.x, keyboard.y, keyboard.yaw}}); this->obs.commands = torch::tensor({{keyboard.x, keyboard.y, keyboard.yaw}});
this->obs.base_quat = torch::tensor({{cyberdogData.quat[1], cyberdogData.quat[2], cyberdogData.quat[3], cyberdogData.quat[0]}}); this->obs.base_quat = torch::tensor({{cyberdogData.quat[1], cyberdogData.quat[2], cyberdogData.quat[3], cyberdogData.quat[0]}});
@ -380,6 +377,9 @@ void RL_Real::Plot()
void signalHandler(int signum) void signalHandler(int signum)
{ {
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 &\"");
exit(0); exit(0);
} }