From ee9eb4ade4813a6d2dd46c1ced84d4b1e3de105a Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Mon, 23 Feb 2026 19:07:58 -0600 Subject: [PATCH] Increase waist debug log frequency to 1Hz Co-Authored-By: Claude Opus 4.6 --- .../src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp index 237ac75..7e7d6cc 100644 --- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp +++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp @@ -2844,7 +2844,7 @@ class G1Deploy { // Debug: log raw NN actions for waist joints every 5 seconds static int waist_dbg_ctr = 0; - if (++waist_dbg_ctr >= 250) { + if (++waist_dbg_ctr >= 50) { waist_dbg_ctr = 0; double raw_yaw = floatarr[isaaclab_to_mujoco[12]]; double raw_roll = floatarr[isaaclab_to_mujoco[13]];