feat: for cyberdog

src/rl_sar/include/rl_real_cyberdog.hpp

@@ -79,14 +79,14 @@ private:
 
     int dof_mapping[12] = {3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8};
     int hip_scale_reduction_indices[4] = {0, 3, 6, 9};
-    float Kp[13] = {20, 40, 40, //FL
-                    20, 40, 40, //FR
-                    20, 40, 40, //RL
-                    20, 40, 40};//RR
-    float Kd[13] = {1.0, 1.5, 1.5, 
-                    1.0, 1.5, 1.5, 
-                    1.0, 1.5, 1.5, 
-                    1.0, 1.5, 1.5};
+    float Kp[13] = {25, 40, 30, //FL
+                    25, 40, 30, //FR
+                    25, 40, 30, //RL
+                    25, 40, 30};//RR
+    float Kd[13] = {0.8, 1.5, 1.0, 
+                    0.8, 1.5, 1.0, 
+                    0.8, 1.5, 1.0, 
+                    0.8, 1.5, 1.0};
 
     std::chrono::high_resolution_clock::time_point start_time;
 

src/rl_sar/src/rl_real_cyberdog.cpp

@@ -21,7 +21,7 @@ RL_Real::RL_Real() : CustomInterface(500)
     this->params.clip_obs = 100.0;
     this->params.clip_actions = 100.0;
     this->params.damping = 0.5;
-    this->params.stiffness = 20;
+    this->params.stiffness = 25;
     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;

src/rl_sar/src/rl_sim.cpp

@@ -24,7 +24,7 @@ RL_Sim::RL_Sim()
     this->params.clip_obs = 100.0;
     this->params.clip_actions = 100.0;
     this->params.damping = 0.5;
-    this->params.stiffness = 20;
+    this->params.stiffness = 25;
     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;