EmbodiedAI
/
rl_sar
mirror of https://github.com/fan-ziqi/rl_sar.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fix: clone actions_scaled tensor for output calculations

This commit is contained in:
fan-ziqi 2025-03-14 15:53:11 +08:00
parent a7611f9778
commit d933e72fa8
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/rl_sar/library/core/rl_sdk/rl_sdk.cpp
View File

@ -103,12 +103,12 @@ void RL::InitControl()
void RL::ComputeOutput(const torch::Tensor &actions, torch::Tensor &output_dof_pos, torch::Tensor &output_dof_vel, torch::Tensor &output_dof_tau) void RL::ComputeOutput(const torch::Tensor &actions, torch::Tensor &output_dof_pos, torch::Tensor &output_dof_vel, torch::Tensor &output_dof_tau)
{ {
torch::Tensor actions_scaled = actions * this->params.action_scale; torch::Tensor actions_scaled = actions * this->params.action_scale;
torch::Tensor pos_actions_scaled = actions_scaled; torch::Tensor pos_actions_scaled = actions_scaled.clone();
torch::Tensor vel_actions_scaled = torch::zeros_like(actions); torch::Tensor vel_actions_scaled = torch::zeros_like(actions);
for (int i : this->params.wheel_indices) for (int i : this->params.wheel_indices)
{ {
pos_actions_scaled[0][i] = 0.0; pos_actions_scaled[0][i] = 0.0;
vel_actions_scaled[0][i] = actions[0][i]; vel_actions_scaled[0][i] = actions_scaled[0][i];
} }
torch::Tensor all_actions_scaled = pos_actions_scaled + vel_actions_scaled; torch::Tensor all_actions_scaled = pos_actions_scaled + vel_actions_scaled;
output_dof_pos = pos_actions_scaled + this->params.default_dof_pos; output_dof_pos = pos_actions_scaled + this->params.default_dof_pos;