From 0e9b50841da7b737170706f78c46a95d1c6323e4 Mon Sep 17 00:00:00 2001 From: silencht Date: Thu, 28 Aug 2025 11:26:07 +0800 Subject: [PATCH] [fix] initialize IK before controller to prevent startup oscillation Ensures heavy URDF parsing completes before control thread runs --- teleop/teleop_hand_and_arm.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py index e9a9b71..888f6bf 100644 --- a/teleop/teleop_hand_and_arm.py +++ b/teleop/teleop_hand_and_arm.py @@ -136,17 +136,17 @@ if __name__ == '__main__': # arm if args.arm == "G1_29": - arm_ctrl = G1_29_ArmController(motion_mode=args.motion, simulation_mode=args.sim) arm_ik = G1_29_ArmIK() + arm_ctrl = G1_29_ArmController(motion_mode=args.motion, simulation_mode=args.sim) elif args.arm == "G1_23": - arm_ctrl = G1_23_ArmController(motion_mode=args.motion, simulation_mode=args.sim) arm_ik = G1_23_ArmIK() + arm_ctrl = G1_23_ArmController(motion_mode=args.motion, simulation_mode=args.sim) elif args.arm == "H1_2": - arm_ctrl = H1_2_ArmController(simulation_mode=args.sim) arm_ik = H1_2_ArmIK() + arm_ctrl = H1_2_ArmController(simulation_mode=args.sim) elif args.arm == "H1": - arm_ctrl = H1_ArmController(simulation_mode=args.sim) arm_ik = H1_ArmIK() + arm_ctrl = H1_ArmController(simulation_mode=args.sim) # end-effector if args.ee == "dex3":