add pin_from_lab

2025-02-15 11:17:16 +09:00 · 2025-02-15 11:17:16 +09:00 · 2e7355a346
parent 8a2fce5a45
commit 2e7355a346
1 changed files with 4 additions and 0 deletions
--- a/deploy/deploy_real/act_to_dof.py
+++ b/deploy/deploy_real/act_to_dof.py
@ -20,6 +20,10 @@ class ActToDof:
            self.ikctrl.joint_names,
            self.config.motor_joint
        )
+        self.pin_from_lab = index_map(
+            self.ikctrl.joint_names,
+            self.config.lab_joint
+        )
        self.mot_from_arm = index_map(
            self.config.motor_joint,
            self.config.arm_joint