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[fix] ctrl dual arm go home bug.

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silencht 1 year ago
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3dc427853a
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b02447c580
1 changed files with 1 additions and 1 deletions
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  1. 2
      teleop/robot_control/robot_arm.py

2
teleop/robot_control/robot_arm.py
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@ -186,7 +186,7 @@ class G1_29_ArmController:
print("[G1_29_ArmController] ctrl_dual_arm_go_home start...") print("[G1_29_ArmController] ctrl_dual_arm_go_home start...")
with self.ctrl_lock: with self.ctrl_lock:
self.q_target = np.zeros(14) 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 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: while True:
current_q = self.get_current_dual_arm_q() current_q = self.get_current_dual_arm_q()

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