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fix: null in sdk

This commit is contained in:
fan-ziqi 2024-08-26 20:35:32 +08:00
parent 0e40a42463
commit a47de1e863
2 changed files with 10 additions and 11 deletions
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13
src/rl_sar/library/rl_sdk/rl_sdk.cpp
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@ -382,7 +382,6 @@ void RL::ReadYaml(std::string robot_name)
config = YAML::LoadFile(config_path)[robot_name]; config = YAML::LoadFile(config_path)[robot_name];
} catch(YAML::BadFile &e) } catch(YAML::BadFile &e)
{ {
std::cout << LOGGER::ERROR << "The file '" << config_path << "' does not exist" << std::endl; std::cout << LOGGER::ERROR << "The file '" << config_path << "' does not exist" << std::endl;
return; return;
} }
@ -397,16 +396,16 @@ void RL::ReadYaml(std::string robot_name)
this->params.num_observations = config["num_observations"].as<int>(); this->params.num_observations = config["num_observations"].as<int>();
this->params.observations = ReadVectorFromYaml<std::string>(config["observations"]); this->params.observations = ReadVectorFromYaml<std::string>(config["observations"]);
this->params.clip_obs = config["clip_obs"].as<double>(); this->params.clip_obs = config["clip_obs"].as<double>();
if(config["clip_actions_lower"] && config["clip_actions_upper"]) if(config["clip_actions_lower"].IsNull() && config["clip_actions_upper"].IsNull())
{
this->params.clip_actions_upper = torch::tensor(ReadVectorFromYaml<double>(config["clip_actions_upper"], this->params.framework, rows, cols)).view({1, -1});
this->params.clip_actions_lower = torch::tensor(ReadVectorFromYaml<double>(config["clip_actions_lower"], this->params.framework, rows, cols)).view({1, -1});
}
else
{ {
this->params.clip_actions_upper = torch::tensor({}).view({1, -1}); this->params.clip_actions_upper = torch::tensor({}).view({1, -1});
this->params.clip_actions_lower = torch::tensor({}).view({1, -1}); this->params.clip_actions_lower = torch::tensor({}).view({1, -1});
} }
else
{
this->params.clip_actions_upper = torch::tensor(ReadVectorFromYaml<double>(config["clip_actions_upper"], this->params.framework, rows, cols)).view({1, -1});
this->params.clip_actions_lower = torch::tensor(ReadVectorFromYaml<double>(config["clip_actions_lower"], this->params.framework, rows, cols)).view({1, -1});
}
this->params.action_scale = config["action_scale"].as<double>(); this->params.action_scale = config["action_scale"].as<double>();
this->params.hip_scale_reduction = config["hip_scale_reduction"].as<double>(); this->params.hip_scale_reduction = config["hip_scale_reduction"].as<double>();
this->params.hip_scale_reduction_indices = ReadVectorFromYaml<int>(config["hip_scale_reduction_indices"]); this->params.hip_scale_reduction_indices = ReadVectorFromYaml<int>(config["hip_scale_reduction_indices"]);

8
src/rl_sar/scripts/rl_sdk.py
View File

@ -387,12 +387,12 @@ class RL:
self.params.action_scale = config["action_scale"] self.params.action_scale = config["action_scale"]
self.params.hip_scale_reduction = config["hip_scale_reduction"] self.params.hip_scale_reduction = config["hip_scale_reduction"]
self.params.hip_scale_reduction_indices = config["hip_scale_reduction_indices"] self.params.hip_scale_reduction_indices = config["hip_scale_reduction_indices"]
if config["clip_actions_upper"] and config["clip_actions_upper"]: if config["clip_actions_upper"] is None and config["clip_actions_upper"] is None:
self.params.clip_actions_upper = torch.tensor(self.ReadVectorFromYaml(config["clip_actions_upper"], self.params.framework, rows, cols)).view(1, -1)
self.params.clip_actions_lower = torch.tensor(self.ReadVectorFromYaml(config["clip_actions_lower"], self.params.framework, rows, cols)).view(1, -1)
else:
self.params.clip_actions_upper = None self.params.clip_actions_upper = None
self.params.clip_actions_lower = None self.params.clip_actions_lower = None
else:
self.params.clip_actions_upper = torch.tensor(self.ReadVectorFromYaml(config["clip_actions_upper"], self.params.framework, rows, cols)).view(1, -1)
self.params.clip_actions_lower = torch.tensor(self.ReadVectorFromYaml(config["clip_actions_lower"], self.params.framework, rows, cols)).view(1, -1)
self.params.num_of_dofs = config["num_of_dofs"] self.params.num_of_dofs = config["num_of_dofs"]
self.params.lin_vel_scale = config["lin_vel_scale"] self.params.lin_vel_scale = config["lin_vel_scale"]
self.params.ang_vel_scale = config["ang_vel_scale"] self.params.ang_vel_scale = config["ang_vel_scale"]