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|
| #pragma once |
|
|
| #include "FSMState.h" |
| #include "isaaclab/envs/mdp/actions/joint_actions.h" |
| #include "isaaclab/envs/mdp/terminations.h" |
|
|
| class State_RLBase : public FSMState |
| { |
| public: |
| State_RLBase(int state_mode, std::string state_string); |
| |
| void enter() |
| { |
| |
| for (int i = 0; i < env->robot->data.joint_stiffness.size(); ++i) |
| { |
| lowcmd->msg_.motor_cmd()[i].kp() = env->robot->data.joint_stiffness[i]; |
| lowcmd->msg_.motor_cmd()[i].kd() = env->robot->data.joint_damping[i]; |
| lowcmd->msg_.motor_cmd()[i].dq() = 0; |
| lowcmd->msg_.motor_cmd()[i].tau() = 0; |
| } |
|
|
| env->robot->update(); |
| |
| policy_thread_running = true; |
| policy_thread = std::thread([this]{ |
| using clock = std::chrono::high_resolution_clock; |
| const std::chrono::duration<double> desiredDuration(env->step_dt); |
| const auto dt = std::chrono::duration_cast<clock::duration>(desiredDuration); |
|
|
| |
| auto sleepTill = clock::now() + dt; |
| env->reset(); |
|
|
| while (policy_thread_running) |
| { |
| env->step(); |
|
|
| |
| std::this_thread::sleep_until(sleepTill); |
| sleepTill += dt; |
| } |
| }); |
| } |
|
|
| void run(); |
| |
| void exit() |
| { |
| policy_thread_running = false; |
| if (policy_thread.joinable()) { |
| policy_thread.join(); |
| } |
| } |
|
|
| private: |
| std::unique_ptr<isaaclab::ManagerBasedRLEnv> env; |
|
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| std::thread policy_thread; |
| bool policy_thread_running = false; |
| }; |
|
|
| REGISTER_FSM(State_RLBase) |
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