From b02447c580d1c1ea659a95060c6d40f4d7a1af00 Mon Sep 17 00:00:00 2001 From: silencht Date: Mon, 30 Dec 2024 15:08:05 +0800 Subject: [PATCH] [fix] ctrl dual arm go home bug. --- teleop/robot_control/robot_arm.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py index bb4e2d7..13f3c5c 100644 --- a/teleop/robot_control/robot_arm.py +++ b/teleop/robot_control/robot_arm.py @@ -186,7 +186,7 @@ class G1_29_ArmController: print("[G1_29_ArmController] ctrl_dual_arm_go_home start...") with self.ctrl_lock: self.q_target = np.zeros(14) - self.tauff_target = np.zeros(14) + # self.tauff_target = np.zeros(14) tolerance = 0.05 # Tolerance threshold for joint angles to determine "close to zero", can be adjusted based on your motor's precision requirements while True: current_q = self.get_current_dual_arm_q()