From 2596b1a629dc6044113bd7c8355025bf7792fab6 Mon Sep 17 00:00:00 2001 From: Your Name Date: Thu, 23 Jan 2025 11:10:12 +0800 Subject: [PATCH] [fix] small bugs. --- teleop/robot_control/robot_arm.py | 10 +++++----- teleop/teleop_hand_and_arm.py | 5 +++-- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py index 3443e95..da3687e 100644 --- a/teleop/robot_control/robot_arm.py +++ b/teleop/robot_control/robot_arm.py @@ -309,12 +309,12 @@ class H1_2_ArmController: self.q_target = np.zeros(14) self.tauff_target = np.zeros(14) - self.kp_high = 200.0 + self.kp_high = 300.0 self.kd_high = 5.0 self.kp_low = 140.0 - self.kd_low = 7.5 - self.kp_wrist = 40.0 - self.kd_wrist = 6.0 + self.kd_low = 3.0 + self.kp_wrist = 50.0 + self.kd_wrist = 2.0 self.all_motor_q = None self.arm_velocity_limit = 20.0 @@ -408,7 +408,7 @@ class H1_2_ArmController: cliped_arm_q_target = self.clip_arm_q_target(arm_q_target, velocity_limit = self.arm_velocity_limit) - for idx, id in enumerate(G1_29_JointArmIndex): + for idx, id in enumerate(H1_2_JointArmIndex): self.msg.motor_cmd[id].q = cliped_arm_q_target[idx] self.msg.motor_cmd[id].dq = 0 self.msg.motor_cmd[id].tau = arm_tauff_target[idx] diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py index 8fb7c52..09c13de 100644 --- a/teleop/teleop_hand_and_arm.py +++ b/teleop/teleop_hand_and_arm.py @@ -123,8 +123,9 @@ if __name__ == '__main__': head_rmat, left_wrist, right_wrist, left_hand, right_hand = tv_wrapper.get_data() # send hand skeleton data to hand_ctrl.control_process - left_hand_array[:] = left_hand.flatten() - right_hand_array[:] = right_hand.flatten() + if args.hand: + left_hand_array[:] = left_hand.flatten() + right_hand_array[:] = right_hand.flatten() # get current state data. current_lr_arm_q = arm_ctrl.get_current_dual_arm_q()