fix: change ReadVectorFromYaml && add commands_scale

src/rl_sar/config.yaml

@@ -20,6 +20,7 @@ a1:
   ang_vel_scale: 0.25
   dof_pos_scale: 1.0
   dof_vel_scale: 0.05
+  commands_scale: [1.0, 1.0, 1.0]
   torque_limits: [33.5, 33.5, 33.5, # FL
                   33.5, 33.5, 33.5, # FR
                   33.5, 33.5, 33.5, # RL
@@ -55,6 +56,7 @@ cyberdog1:
   ang_vel_scale: 0.25
   dof_pos_scale: 1.0
   dof_vel_scale: 0.05
+  commands_scale: [1.0, 1.0, 1.0]
   torque_limits: [24.0, 24.0, 24.0, # FL 
                   24.0, 24.0, 24.0, # FR
                   24.0, 24.0, 24.0, # RL
@@ -67,3 +69,74 @@ cyberdog1:
                 "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
                 "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
                 "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
+
+lite3_wheel:
+  num_observations: 45
+  clip_obs: 100.0
+  clip_actions: 100.0
+  # damping: 0.5
+  # stiffness: 20.0
+  p_gains: [20, 20, 20, 0, # FL
+            20, 20, 20, 0, # FR
+            20, 20, 20, 0, # RL
+            20, 20, 20, 0] # RR
+  d_gains: [0.5, 0.5, 0.5, 0.5, # FL
+            0.5, 0.5, 0.5, 0.5, # FR
+            0.5, 0.5, 0.5, 0.5, # RL
+            0.5, 0.5, 0.5, 0.5] # RR
+  action_scale: 0.25
+  hip_scale_reduction: 1.0
+  num_of_dofs: 16
+  lin_vel_scale: 2.0
+  ang_vel_scale: 0.25
+  dof_pos_scale: 1.0
+  dof_vel_scale: 0.05
+  commands_scale: [1.0, 1.0, 1.0]
+  torque_limits: [21.6, 21.6, 32.4, 1.8, # FL 
+                  21.6, 21.6, 32.4, 1.8, # FR
+                  21.6, 21.6, 32.4, 1.8, # RL
+                  21.6, 21.6, 32.4, 1.8] # RR
+  default_dof_pos: [ 0.1000, 0.8000, -1.5000, 0.0000, # FL
+                    -0.1000, 0.8000, -1.5000, 0.0000, # FR
+                     0.1000, 1.0000, -1.5000, 0.0000, # RL
+                    -0.1000, 1.0000, -1.5000, 0.0000] # RR
+  joint_names: ["FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
+                "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint",
+                "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
+                "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint"]
+
+fldlar:
+  model_name: "model_0514.pt"
+  num_observations: 45
+  clip_obs: 100.0
+  clip_actions: 100.0
+  # damping: 0.5
+  # stiffness: 20.0
+  p_gains: [200, 200, 200, # FL
+            200, 200, 200, # FR
+            200, 200, 200, # RL
+            200, 200, 200] # RR
+  d_gains: [11, 11, 11, # FL
+            11, 11, 11, # FR
+            11, 11, 11, # RL
+            11, 11, 11] # RR
+  action_scale: 0.25
+  hip_scale_reduction: 0.5
+  num_of_dofs: 12
+  lin_vel_scale: 2.0
+  ang_vel_scale: 0.25
+  dof_pos_scale: 1.0
+  dof_vel_scale: 0.05
+  commands_scale: [1.0, 1.0, 1.0]
+  torque_limits: [151.0, 151.0, 151.0, # FL
+                  151.0, 151.0, 151.0, # FR
+                  151.0, 151.0, 151.0, # RL
+                  151.0, 151.0, 151.0] # RR
+  default_dof_pos: [0.0, 0.0, 0.0, # FL
+                    0.0, 0.0, 0.0, # FR
+                    0.0, 0.0, 0.0, # RL
+                    0.0, 0.0, 0.0] # RR
+  joint_names: ["ip1x_hip_roll_joint", "ip1x_hip_pitch_joint", "ip1x_knee_joint",
+                "ip3x_hip_roll_joint", "ip3x_hip_pitch_joint", "ip3x_knee_joint",
+                "ip5x_hip_roll_joint", "ip5x_hip_pitch_joint", "ip5x_knee_joint",
+                "ip7x_hip_roll_joint", "ip7x_hip_pitch_joint", "ip7x_knee_joint"]

src/rl_sar/library/rl_sdk/rl_sdk.cpp

@@ -1,13 +1,14 @@
 #include "rl_sdk.hpp"
 
-torch::Tensor ReadTensorFromYaml(const YAML::Node& node)
+template<typename T>
+std::vector<T> ReadVectorFromYaml(const YAML::Node& node)
 {
-    std::vector<float> values;
+    std::vector<T> values;
     for(const auto& val : node)
     {
-        values.push_back(val.as<float>());
+        values.push_back(val.as<T>());
     }
-    return torch::tensor(values).view({1, -1});
+    return values;
 }
 
 void RL::ReadYaml(std::string robot_name)
@@ -33,21 +34,17 @@ void RL::ReadYaml(std::string robot_name)
     this->params.lin_vel_scale = config["lin_vel_scale"].as<float>();
     this->params.ang_vel_scale = config["ang_vel_scale"].as<float>();
     this->params.dof_pos_scale = config["dof_pos_scale"].as<float>();
-    this->params.dof_vel_scale =config["dof_vel_scale"].as<float>();
+    this->params.dof_vel_scale = config["dof_vel_scale"].as<float>();
-    this->params.commands_scale = torch::tensor({this->params.lin_vel_scale, this->params.lin_vel_scale, this->params.ang_vel_scale * 2});
+    this->params.commands_scale = torch::tensor(ReadVectorFromYaml<float>(config["commands_scale"])).view({1, -1})
     // this->params.damping = config["damping"].as<float>();
     // this->params.stiffness = config["stiffness"].as<float>();
     // this->params.d_gains = torch::ones(12) * this->params.damping;
     // this->params.p_gains = torch::ones(12) * this->params.stiffness;
-    this->params.p_gains = ReadTensorFromYaml(config["p_gains"]);
+    this->params.p_gains = torch::tensor(ReadVectorFromYaml<float>(config["p_gains"])).view({1, -1})
-    this->params.d_gains = ReadTensorFromYaml(config["d_gains"]);
+    this->params.d_gains = torch::tensor(ReadVectorFromYaml<float>(config["d_gains"])).view({1, -1});
-    this->params.torque_limits = ReadTensorFromYaml(config["torque_limits"]);
+    this->params.torque_limits = torch::tensor(ReadVectorFromYaml<float>(config["torque_limits"])).view({1, -1});
-    this->params.default_dof_pos = ReadTensorFromYaml(config["default_dof_pos"]);
+    this->params.default_dof_pos = torch::tensor(ReadVectorFromYaml<float>(config["default_dof_pos"])).view({1, -1});
-    const YAML::Node& joint_names_node = config["joint_names"];
+    this->params.joint_names = ReadVectorFromYaml<std::string>(config["joint_names"]);
-    for(const auto& name : joint_names_node)
-    {
-        this->params.joint_names.push_back(name.as<std::string>());
-    }
 }
 
 void RL::CSVInit(std::string robot_name)