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fix: set rl_real_a1's default running_state to STATE_WAITING

This commit is contained in:
fan-ziqi 2024-10-08 18:12:03 +08:00
parent 561864ad08
commit eb3f07a80c
2 changed files with 4 additions and 2 deletions
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1
src/rl_sar/src/rl_real_a1.cpp
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@ -21,6 +21,7 @@ RL_Real::RL_Real() : unitree_safe(UNITREE_LEGGED_SDK::LeggedType::A1), unitree_u
this->InitObservations(); this->InitObservations();
this->InitOutputs(); this->InitOutputs();
this->InitControl(); this->InitControl();
running_state = STATE_WAITING;
// model // model
std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + this->robot_name + "/" + this->params.model_name; std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + this->robot_name + "/" + this->params.model_name;

1
src/rl_sar/src/rl_sim.cpp
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@ -35,6 +35,7 @@ RL_Sim::RL_Sim()
this->InitObservations(); this->InitObservations();
this->InitOutputs(); this->InitOutputs();
this->InitControl(); this->InitControl();
running_state = STATE_RL_RUNNING;
// model // model
std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + this->robot_name + "/" + this->params.model_name; std::string model_path = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + this->robot_name + "/" + this->params.model_name;